Moving and stopping when using TrajectoryPlannerROS and carrot_planner [closed]

asked 2012-08-30 11:39:00 -0500

bkim gravatar image

updated 2014-01-28 17:13:30 -0500

ngrennan gravatar image


I am currently using base_local_planner/TrajectoryPlannerROS as my local planner, and carrot planner as global planner. Everything seems to work fine, execept that when these are used to execute a path, my robot moves a little and stops to plan another global path from the new location to the goal, continue moving, and stops to plan and so on. It seems like when the robot is out of the planned path even by little, it stops to replan.

Is there a way to allow the robot to be out of the global path a little bit? I looked at many different parameters including path_distance_bias, but it does not seem to have any effects on the behaviour.

Any help would be appreciated.

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-04-07 00:11:45.185519