Is it possible for the global planner in move_base to copy an already made plan?
I understand from the nav_core::BaseGlobalPLanner
class that MakePlan()
needs a goal, and a starting point and will fill the plan accordingly to whatever algorithm is being used.
In my case, I have an already made plan that is being sent from the other framework I am working with (Isaac SDK) that I would like to pass on to move_base
so it can be, in the end, processed by the local planner. Is there a way to give the global planner an already made plan or have MakePlan() copy the plan available by Isaac?
I am mainly interested in using only the local planner.
A step by step to the answer can be found here.