Local planner which strictly follow global plan for move_base_flex

asked 2023-03-16 23:04:06 -0600

harvin gravatar image

Hello everyone,

I'm trying to finish a project which the robot should move strictly according to a global plan, but stop when encounter obstacles.

I have tried using the move_base_flex exe_path action to publish my own nav_msgs/Path to navigate the robot. However, the actual robot moving path is not strictly follow the global plan. I think it's cause by the local planner. Is the only method is to write my custom local planner or how can I do to realize my goal?

Thanks a lot.

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What does the local planner use? The response will depend on this.

For example, in the case of dwa_local_planner, you can vary the tracking to the global plan by adjusting path_distance_bias, goal_distance_bias and occdist_scale.

miura gravatar image miura  ( 2023-03-18 21:54:46 -0600 )edit

Dear Miura, I have tried both DWA and TEB local planner, but it didn't get good result. Actually, I have turned path_distance_bias and goal_distance_bias but the path was weird. Or what parameters of TEB can be adjusted?

harvin gravatar image harvin  ( 2023-03-20 02:43:13 -0600 )edit

Thanks for the reply. Sorry I can't seem to help any more, I'm not familiar with TEB.

miura gravatar image miura  ( 2023-03-24 17:41:56 -0600 )edit