Ask Your Question
1

move_base managing goal

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

camilla gravatar image

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

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
0

answered 2013-04-29 21:27:11 -0600

Alexandr Buyval gravatar image

Hi

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

edit flag offensive delete link more

Comments

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

RB gravatar image RB  ( 2015-01-21 07:39:16 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

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

Seen: 143 times

Last updated: Apr 29 '13