Move base global planners switching

asked 2012-07-03 02:28:09 -0600

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Hi, After reading http://answers.ros.org/question/9888/switching-global-planner/

I've got some questions regarding the issue of switching global planner. As I can understand the global planner is a parameter of move_base, and it's displayed in the dynamic reconfigure but I cannot change it online?

I need to use different planners and different configurations controlled by a supervisor node. For now the options are:

Kill the move_base node and relaunch it ( roslaunch api ???)

Keep two move_base nodes online and simply reroute the goals.

Somehow change all parameters on the fly using dynamic_reconfigure.

Anyone has experience and doing something similiar, I think this would be a great addition to ros Navigation.

Thanks

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answered 2012-07-03 04:19:31 -0600

joq
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The consensus answer to the question you linked was to write a supervisory planner that switches between other planners when needed. That would be done using a single move_base instance.

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Thank you I did a simplified version of that( 2 planners only hard coded) works great

fmarques ( 2012-07-04 03:19:49 -0600 )edit

hi, @joq, I also want to implement same function. However, I can't understand what supervisory planner is and don't know how to implement it. I also asked question, please see this link

scopus ( 2017-07-11 06:49:39 -0600 )edit

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hi, @fmarques, Have you solved your question? would you like to answer my question? Thank you!

scopus ( 2017-07-11 06:52:19 -0600 )edit

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answered 2012-07-07 16:59:47 -0600

klapow
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While a supervisory node certainly works it should be noted that this can be achieved using dynamic_reconfigure either using the gui or a custom client that reconfigures the new planner when needed. The one caveat to this is that these parameters can not be reconfigured while the robot is in motion.

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I've tried earlier with dynamic_reconfigure and the SBPL planner never inicialized. That's why a made the supervisory node. Because I also change alot of navigation parameters when I change the planner. Maybe I made a mistake in the dynamic reconfigure of the global planner

fmarques ( 2012-07-09 00:07:57 -0600 )edit

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