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NavFn Final Goal Orientation Wrong

asked 2022-09-22 10:01:12 -0500

GaganBhat
1 ●1

updated 2022-09-22 10:02:33 -0500

Everytime I add a 2D Nav Goal, the final orientation at the end of the Global plan seems to face the wrong way.

Using ROS Noetic along with navfn/NavfnROS.

Please see screenshots below:

The behavior is not consistent however, seems to have a mind of its own in terms of the final orientation.

Config Files:

navfn_global_planner_params.yml

NavfnROS: visualize_potential: false allow_unknown: false
planner_window_x: 0.0
planner_window_y: 0.0 default_tolerance: 0.0

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answered 2022-09-23 19:49:12 -0500

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

It is not a wrong behavior. Another planner controls the orientation of the robot.

The navigation stack consists of two planners. The navigation stack consists of two planners: a global planner and a local planner.

The global planner plans without considering the orientation of the robot. NavFn is a global planner, so it does not need to consider the orientation of the robot at the goal.

The local planner takes the robot's orientation into account when planning.

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Asked: 2022-09-22 10:01:12 -0500

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Last updated: Sep 23 '22

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