publish a trajectory plan passing through some points.

asked 2020-06-08 18:56:35 -0500

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Hello

is it possible to publish a trajectory plan in the odometry frame for ROS to try to navigate?

For example, I have some points (x, y) that are a few meters in front of the robot and I would like to publish a trajectory passing through these points so that the robot tries to pass through them.

It is possible? on what topic should I publish this trajectory plan?

thanks

answered 2020-06-08 21:34:53 -0500

stevemacenski

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is it possible to publish a trajectory plan in the odometry frame for ROS to try to navigate?

Yes, the plan message has a header and that header is used by properly implemented controllers to convert into the odom frame (and in this case, its already in it so it doesn't do anything).

You'd have to create a custom planner plugin to take these points and hand them off to the API when it requests a plan. That is then handed to the controller to follow. In ROS2 navigation, you could directly call the controller action server with a plan in that frame, but in ROS1 you'll have to create a plugin to 'fake out' the plan.

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Hello

thanks for your answer! Do you have a link that shows how to create this plugin?

mateusguilherme ( 2020-06-09 06:48:22 -0500 )edit

You implement the GlobalPlanner interface and then register it as a pluginlib plugin. There's no single-one-off tutorial to teach you that

stevemacenski ( 2020-06-09 11:59:20 -0500 )edit

thanks for your tips. I implemented a simple global planner, but I have some problems with how to make it publish the trajectory in the odometry frame. I created a new question at the link: https://answers.ros.org/question/354617/creating-a-global-planner-with-the-trajectory-in-the-odometry-frame/ I would be grateful for any assistance you can provide

mateusguilherme ( 2020-06-10 21:15:33 -0500 )edit

sure, can you mark this one as correct then since we're moving to another question (also, thanks for that proper use of Answers, its duly appreciated)

stevemacenski ( 2020-06-10 22:52:21 -0500 )edit

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