Ros Navigation - Plan trajectory before moving
Hi,
I am using the DWA planner to drive in an environment avoiding obstacles. I would like to know, is it possible to perform the planning part before moving and visualize the evolution of the robot position in RViz before actually moving it?
It would be interesting since it may allow to check if the path is correct, before launching on the real robot.
Thank you !
The planning part is performed before moving always. Why don't you use gazebo to do the same, move_base does offer a service that allows you to make a plan without executing them "move_base::make_plan". You can visualize the generated plan using RViz.
That's great, thanks !
The plan is already the combination of the global and local planners, so the actual trajectory that will be generated, or it is just the global plan?
Just the global plan
Ok, thank you very much !