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move_base managing goal

asked 2013-04-26 00:23:06 -0500

camilla gravatar image

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

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answered 2013-04-29 21:27:11 -0500

Alexandr Buyval gravatar image


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)


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

RB gravatar image RB  ( 2015-01-21 07:39:16 -0500 )edit

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Asked: 2013-04-26 00:23:06 -0500

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Last updated: Apr 29 '13