Mechanism for calculating smooth trajectory?

asked 2012-08-28 14:15:17 -0600

bkim
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Hi,

I have a wheelchair robot, and I have written by own path planner. My path planner gives a set of waypoints to reach the goal, each ~1m apart, and a path is re-planned every time there is something observed by Kinect. I have been sending these waypoints to move_base to get to these waypoints, treating them as a goal to move_base node. However, I realized that move_base is slow in adapting to a new goal when there is a goal already being pursued.

I just need a mechanism that computes a smooth trajectory given a two points (current position and the goal), by taking account of the current robot's velocity and position. I do not need obstacle avoidance, costmap update, recovery method and etc, which I presume is slowing down the move_base node. Is there a such node in ROS? I think base_local_planner is somehow publishing the velocity (cmd_vel topic) with a given plan, however I do not really have a plan but only two points.

Any help would be appreciated.

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answered 2012-08-28 22:51:43 -0600

Procópio

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I know this is not quite what you are looking for, but you can try to use goal_passer as your local planner, which is available in the navigation_experimental stack or carrot_planner. Both are simpler planners that may speed up your navigation. If they do not suit you, you can look at their codes and create your own. cheers

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Hi, I checked out goal_passer, but the wiki page is empty. Do you know what it does? Right now it is just rotating in one place, with 0 linear velocity.

bkim ( 2012-08-30 03:47:43 -0600 )edit

Hi again. Instead of goal_passer, I used carrot_planner and like you said it is much faster than navfn. However, when I use carrot_planner it will move for sometime and stops, and continue moving. Do you know what might be causing this movement?

bkim ( 2012-08-30 05:14:46 -0600 )edit

take a look at the goal_passer code, i am not quite sure how it works, but i have used it several times. also try to give a goal very very close to the robot, for me it does not work if the goal is far away (do not know why: http://answers.ros.org/question/33926/problems-with-goalpasser-distance-to)

Procópio ( 2012-09-01 01:09:18 -0600 )edit

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answered 2016-10-12 02:58:50 -0600

ealltech
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Hi, I checked out goal_passer, but the wiki page is empty. Do you know what it does? Right now it is just rotating in one place, with 0 linear velocity.

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