Fabio Signorini's profile - activity

Hi KruseT, thanks for your answer! you're right, my idea is to use navfn as a plugin for move_base. I'm not interested in changing it's normal behaviour, I need only to know the cost that it assigns to every path it generates for the robot to reach a goal position from a start position (not only the minimum cost path that it found at the end of each computation but the cost of every plan it generates).

Could you please give me more details about what you wrote in your second paragraph? In particular what I have to do to 'add a topic publisher and change makePlanService() service to also publish on your custom topic'? Do I need to modify existing files or create new ones?

Thanks in advance.

Hi everybody! I'm working on a A.I. project and I need to know how to obtain information from the navfn global planner during execution. In more details, what should I do in order to call the methods listed in the navfn::NavFn class reference (http://www.ros.org/doc/api/navfn/html/classnavfn_1_1NavFn.html#a991e667731691eb111cddc786e2d02d0) to retrieve run-time informations and can later work with them? The information I need is the one returned by getLastPathCost().

Any suggestion would help. Thanks!