About the follow waypoint feature package can’t walk continuously?

asked 2021-12-17 01:34:16 -0500

mingyue gravatar image

When I use the follow_waypoint feature package, I marked three points, but the robot stopped when it reached the first waypoint. I don’t know the reason. Do you guys know how to solve it? image description

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Can you pls show your RViz settings?

To set waypoints you can either publish a ROS PoseWithCovarianceStamped message to the /initialpose topic directly or use RViz’s tool "2D Pose Estimate" to click anywhere. To visualize the waypoints as pink arrows in RViz, configure RViz to display the topic /current_waypoints which is published by follow_waypoints and must be subscribed to in Rviz as a PoseAarray type

To initiate waypoint following send a "path ready" message.

$ rostopic pub /path_ready std_msgs/Empty -1

Source: http://wiki.ros.org/follow_waypoints

osilva gravatar image osilva  ( 2021-12-18 18:39:50 -0500 )edit

Yes, I have set rviz correctly, but occasionally, when setting two or three points, the robot stops after reaching the first point, and sometimes the planned route will ignore the middle one waypoint. At the same time, when running on the actual robot, after reaching the first target point, the robot will either stop motionless or retreat to another position, and will not run according to the next waypoint position. I don't know why this is. I hope you can help answer it.

mingyue gravatar image mingyue  ( 2021-12-19 21:47:09 -0500 )edit