Path points following
Hi everyone, I'm working on a 4 wheels mobile robot and I have to follow a path points (series of points on a path). So my question is there a ROS algorithm to do that?
Hi everyone, I'm working on a 4 wheels mobile robot and I have to follow a path points (series of points on a path). So my question is there a ROS algorithm to do that?
I would suggest setting up a base global planner for the global path and teb local planner for the local one since teb local planner actually supports points.
See http://wiki.ros.org/teb_local_planner
take a look at the subscribed topics you'll find "via_points (nav_msgs/Path)" in the optimization parameters you can weight the local planner to follow the via points more.
Note: You'll need to set global path via point seperation to a negative number. Otherwise the planner will strictly follow the global path since it is supplying the via points now.
It should be fairly simple to implement that behavior.
EDIT:
I just thought about it again, if you run into timing problems between supplying the goal and the via points it might be an option to set everything from one node. Using the actionlib you can provide the goal and a simple publisher can publish your points. Then you can define precise timings and prevent a edgecase where you are supplying waypoints from the past.
Please start posting anonymously - your entry will be published after you log in or create a new account.
Asked: 2020-12-21 07:38:28 -0500
Seen: 296 times
Last updated: Dec 22 '20
How to tf transform a processed data from sensors
trajectory_msgs/JointTrajectory Exception :AttributeError: 'str' object has no attribute 'positions'
"roslaunch turtle_tf2 turtle_tf2_demo.launch" Error
No such package after catkin_make
rosrun turtlesim turtlesim_node error while loading shared libraries
Trouble running Turtlebot3 simulation on ROS Noetic
dual laser source for navigation
How to access the value from the subscriber callback
AttributeError: ‘tuple’ object has no attribute 'joint_trajectory’
There are alot of algorithms to plan a path, and alot of tutorials/examples. I don't know what your configuration is but a goot starting point is 'move_base_simple/goal' to just move your robot to each point. (assuming your 'points' are known locations)