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How to create our own global planner

Hello all,

I'm just beginner in ROS and not perfect in English.

We are trying to make a maze solving robot with Gazebo-ROS. For now, we could get a costmap of the maze in some way, and when we point the end of the maze by basic 2D goal via rivz, it works perfectly if robot is in the maze.

The problem is; when the robot is out of the maze, global planner draw a path which goes around of the maze. What we need is: creating our own global planner so that we could give a path to robot which goes through the maze in any condition.

If you give me some advices, or recommend some tutorial or stuff to learn how to do. I'll really be appreciated.

All the best.