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2018-06-12 16:17:32 -0500 commented question how to send a predefined path to a local planner?

No, I did not. Although the comments below are very smart and helpful, I did not have enough time to implement that back

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2015-12-14 15:06:56 -0500 commented answer how to send a predefined path to a local planner?

This does sound a valid idea. I think it is not difficult create the proposed global planner plugin. The more detail how to achieve retrieve the path, either by feeding the same array of vectors or built-in array of vector in the global planner, is to be determined based on global planner architectu

2015-12-14 14:59:02 -0500 commented answer how to send a predefined path to a local planner?

thanks very much for your answer. I will later take a deeper look into the path topic to see if there were a way to implement.

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2015-12-06 21:39:02 -0500 asked a question how to send a predefined path to a local planner?

hello everyone,

I am facing a situation.

I am recently developing a trajectory planner for research purposes. I have written the trajectory planner in a local planner, which has adhered to the local_planner interface set in nav_core.

In order to test and improve this trajectory planner, I should feed a complex enough path (curve path for example) into the trajectory planner and analyse the generated output trajectory commands. Now I can do so by setting a goal pose on Rviz and using one of the global planners. But this does not always generate exactly the same path every time.

So I wish to send a predefined complex path (or a vector of PoseStamped) to the trajectory planner directly (like using: rostopic pub), or reproduce the same complex path on Rviz feeding to the trajectory planner.

Do you have any ideas how to do so or even better methods?

Thanks very much in advance.