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simple global planner (problem planner_frequency)

asked 2020-06-23 08:22:43 -0500

mateusguilherme gravatar image

updated 2020-06-23 08:23:43 -0500

Hello

I am trying to implement an extremely simple global planner (tutorial: http://wiki.ros.org/navigation/Tutori...), it will create just a straight line between the "start" and "goal" points. However, I want this trajectory to be static, so I set the planner_frequency parameter to 0.0, but move_base continues to recreate the trajectory. Am I forgetting to implement something?

my global planner:

 #include <pluginlib/class_list_macros.h>
 #include "planejador_header.h"

 //register this planner as a BaseGlobalPlanner plugin
 PLUGINLIB_EXPORT_CLASS(planejador::Planejador, nav_core::BaseGlobalPlanner)

 using namespace std;

 //Default Constructor
 namespace planejador {

 Planejador::Planejador (){

 }

 Planejador::Planejador(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
   initialize(name, costmap_ros);
 }


 void Planejador::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){

 }

 bool Planejador::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal,  std::vector<geometry_msgs::PoseStamped>& plan ){


   plan.push_back(start);

   plan.push_back(goal);

  return true;
 }
 };

Demonstrative video: https://www.youtube.com/watch?v=3nigH...

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answered 2020-06-25 13:13:26 -0500

mateusguilherme gravatar image

it is necessary to have more reference points between the "start" and "goal" points if the distance to be covered is greater than 1m

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Asked: 2020-06-23 08:22:43 -0500

Seen: 19 times

Last updated: Jun 25