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I want my 2 wheel drive robot either to go straight or turn.
For example when I give it a goal, i want it first to turn to that goal, then go straight to that point and not go in curved lines.
Is there a way to do this with the ROS navigation stack?
I recommend trying to set the global planner to carrot_planner.
You should be able to set the parameter ~base_global_planner to carrot_planner::CarrotPlanner in move_base.
If that is not sufficient, you will need to set something else, such as adjusting the local planner parameters.
ref:
Asked: 2022-09-30 16:54:43 -0500
Seen: 49 times
Last updated: Oct 01 '22
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Not sure about the navigation stack, but you have already solved the path planning problem. I would compute the turn angle first and then calculate a straight-line trajectory by myself. But, on the other hand, I am afraid of the situation when an obstacle comes across such a simple-minded trajectory.