Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How to get robot to follow line in RVIZ/ other GUI? [closed]

asked 2022-12-15 20:22:24 -0500

chased11
152 ●5 ●33 ●22

I have a robot setup that will move to a specified point of a predetermined map in RVIZ, but will eventually need to load these waypoints as an action/service so it can reach multiple waypoints. I would like to be able to draw straight lines that the robot should try to follow and stick to as long as there are no obstacles. Is there a good way to implement this strategy of having a path the robot should follow but will avoid an obstacle and return to the specified path once cleared?

i.e. a lawn mower following a straight line, avoiding a tree and returning to that straight line

edit retag flag offensive reopen merge delete

Closed for the following reason the question is answered, right answer was accepted by chased11
close date 2022-12-20 22:54:45.463387

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2022-12-18 09:13:59 -0500

Mike Scheutzow
4918 ●2 ●430 ●45

move_base already supports the follow-path-unless-obstacle if you configure it correctly. Start by understanding the difference between a "global planner" and a "local planner" (hint: what each planner type outputs, and when, is very different.)

Confusingly, one of move_base's global planners is named GlobalPlanner, as if it's the only one.

As far as I know, there is no feature in standard ros to feed a list of waypoints to move_base. Everybody just writes custom code to do this.

edit flag offensive delete link

Comments

Sounds good. Thanks!

chased11 ( 2022-12-19 11:33:05 -0500 )edit

add a comment

Question Tools

2 followers

Stats

Asked: 2022-12-15 20:22:24 -0500

Seen: 85 times

Last updated: Dec 18 '22

How to get robot to follow line in RVIZ/ other GUI? [closed] edit

Closed for the following reason the question is answered, right answer was accepted by chased11 close date 2022-12-20 22:54:45.463387