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Different Trajectory topic for move_base

asked 2020-07-13 21:42:18 -0600

DevWhoDat gravatar image

Hi, I just wanted to know how would I be able to replace the default trajectory on move_base package to a custom trajectory path topic that I wrote. If I change the topic on path from rviz to my own topic and use move base to move the robot the robot will not use my path, it will use the default path but the difference is that it just shows my path but in the back-end follows the default one. So I guess it is not that simple. Anyone can give me some guidance? Thank you.

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answered 2020-08-01 19:34:35 -0600

DevWhoDat gravatar image

I'm going to answer my own question in case someone else comes across this in the future.

You need to write your own global path planner as a plugin

then use that in your movebase launch file instead of the default ones.

You do not need a custom local planner. You can use the default local planner or any other local planner that you can find.

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answered 2020-07-16 16:01:06 -0600

David Lu gravatar image

You probably want to write a custom local planner and use it as a plugin inside of move base.

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the path topic I am working on is a global path, so I just want my robot to follow the path that I am creating, can I use any local planner to make this possible or do I have to write my own?

DevWhoDat gravatar image DevWhoDat  ( 2020-07-16 18:08:21 -0600 )edit

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Asked: 2020-07-13 21:42:18 -0600

Seen: 257 times

Last updated: Aug 01 '20