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Can't we do motion planning in 2d and 3d in Gazebo without using move_base?

asked 2021-11-12 02:37:20 -0600

aleena_infinitynbeyond gravatar image

updated 2021-11-12 02:41:00 -0600

if yes, how? I don't want to hard code the obstacle position I want to have a map and some obstacles in the scene and I want to just view and test the global path generated by different path planners from start to goal point. I don' want to navigate the robot. I don't want to have a robot model in the scene. Just a world with obstacles a start and goal point and the 3d global path

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answered 2021-11-12 03:51:19 -0600

Per Edwardsson gravatar image

As long as the path planning package is configured correctly, I think the only other thing required is a complete transform tree. Typically, there is a map->odom transform, and a odom->base_link transform. As long as you run nodes that provide these transforms, you can probably use the global path planner just fine.

If you have a robot model with all these transforms, the easiest thing is probably to load the robot, but redirect the output of move_base so that it is unable to send to cmd_vel.

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Hey can you give a detailed step by step way to do this, how to get the tfs? should i be subscribing to the global costmap because even move_base does the same? I am writing my own global path planning algorithm and i want to make use of the costmap.. Also, how do you redirect the output of move_base?

aleena_infinitynbeyond gravatar image aleena_infinitynbeyond  ( 2021-11-12 05:28:07 -0600 )edit

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Asked: 2021-11-12 02:37:20 -0600

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Last updated: Nov 12 '21