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Smooth motion between waypoints in ROS navigation

Hello all,

I have an application where I am using the turtlebot simulator with move_base for some navigation related tasks. So generally, if a goal is specified, I am assuming the nav stack comes up with a spline for a large set of points that when passed through, take the robot there. If I have my own (sufficiently large) set of waypoints; is there a way to avoid stopping at every waypoint and rather let the robot drive through them like a curve?

Thanks, Sai