Carrot planner prevent orientation goal
I'm using a carrot planner to navigate to a goal and stop if there is an obstacle. As it navigates and cannot find a path to the goal, it keeps rotating in place for a bit, sort of oscillating instead of stopping. I would like it to be oriented along the straight line (i.e. if I approach a table, and stop, I would like it to be facing the table, and not rotate away from it).
What parameters are relevant to accomplish this? Thanks
Edit: I'm working with ros1 navigation stack
What you are describing is not how the carrot planner behaves. My guess is that either you are actually using a different local planner, or there is something wrong with your robot's
map->base_linktransform (maybe it is inaccurate, or it is jumping around?)Which local planner is appropriate for the carrot planner, because as I see it, the carrot planner is a global planner. The transforms seem to correct
Oops, you're right. The behavior you're describing is determined by the local planner, not the global planner. You want one that does not do collision avoidance. You could look at using something like
pose_followerfrom https://github.com/ros-planning/navig...