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Straightforward movements for local_planner

Hello,

I faced the problem that I want to my robot navigate without curved trajectories (only straightforward motions as much as possible ). I even set carrotplanner for baseglobalplanner, and it is create a straight path from current position to the goal. However my baselocal_planner always perform curved movements and even can't reach the goal, as it is shown in the picture:

image description

I want to perform navigation without map, and currently my lidar is turned off as well. Maybe I will add laserscan latter. Could someone say how can I use movebase with direct movement and using only odom. Maybe I have to use another baselocalplanner, now I am using default TrajectoryPlannerROS, or maybe I have to set specific parameter.

Thank you!!!

Asked by Yehor on 2020-02-13 03:04:38 UTC

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