move_base managing goal

camilla
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Can someone explain me how the local_planner receive the goal coordinates?

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Algorithm of local planner is based on global plan (is not based on the goal).

There is method in 'TrajectoryPlannerROS' class:

bool TrajectoryPlannerROS::setPlan(const std::vector<geometry_msgs::PoseStamped>& orig_global_plan)

Alex

Can I change this and make the local planner to follow my own trajectory?

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Asked: 2013-04-26 00:23:06 -0600

Seen: 149 times

Last updated: Apr 29 '13