Ask Your Question

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


I am trying to implement an extremely simple global planner (tutorial:, 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 ){



  return true;

Demonstrative video:

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

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

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


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

Seen: 19 times

Last updated: Jun 25