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turtlebot autonomous navigation with multiple goals

asked 2013-07-08 22:55:33 -0600

turtlebotnewbie gravatar image

Hi, I have got the turtlebot to navigate autonomously using the turtlebot tutorials. I was wondering if there is any package/tutorial out there to make the turtlebot handle multiple goals. For example, first go to goal #1, then goal#2 and so on. I assume this would not be possible using rviz and that I would have to write my own trajectory planner etc., For this, I was hoping to get hold of the source code that rviz uses and then modify it to suit my needs. Is there a way I can get the code (for sending a navigation goal and autonomously navigating there) used in rviz? Any guidance will be appreciated. Thanks.

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I'm working on a similar project. Did you ever get this going? If you did, would you share your solution?

TFinleyosu gravatar image TFinleyosu  ( 2014-03-10 05:31:53 -0600 )edit

Hi, I want to know if you had make this (turtlebot autonomous navigation with multiple goals), and how did you process? thanks a lot

guigui gravatar image guigui  ( 2014-06-25 02:04:07 -0600 )edit

Did you get the code you were looking for??

Ayush Sharma gravatar image Ayush Sharma  ( 2017-01-19 09:56:09 -0600 )edit

Hey. Can anyone provide a solution for this yet? I am trying navigation with multiple goals. Thanks

rahul.pillai93 gravatar image rahul.pillai93  ( 2017-03-11 22:51:23 -0600 )edit

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answered 2013-07-08 23:01:08 -0600

Lucile gravatar image

You can write your own node to program it. You might find move_base package documentation useful to achieve that :

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@Lucile's answer is what I would recomend but to directly answer your question. rviz's source can be found at:

tfoote gravatar image tfoote  ( 2013-07-09 06:14:02 -0600 )edit

answered 2014-03-10 13:57:03 -0600

jihoonl gravatar image

You might want to check out. This helps to navigate around multiple poses.

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With this package you can both click on RViz for intermediate goals or pass them in a YAML file. Also you can make both a sequence of goals or an infinitely repeated loop.

jorge gravatar image jorge  ( 2014-06-25 02:27:18 -0600 )edit

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Asked: 2013-07-08 22:55:33 -0600

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Last updated: Mar 11 '17