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NicksJackalPackages / waypoint_follower

ROS package for sending robots to a series of waypoints
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Husky Navigation #1

Open aarontan-git opened 6 years ago

aarontan-git commented 6 years ago

Hello,

I am trying to run some tests with the husky_navigation stack

I wish to have a predefined global path for my tests to check the performances of a few local planners.

I am wondering, could you provide some instructions for me on how to utilize your repo for this purpose?

How can I set predefined waypoints in rviz as a global plan for my local planners to follow?

Thanks, Aaron

Nick-Sullivan commented 5 years ago

Sorry for the very late reply, hopefully the response is still relevant.

I've removed the use of move_base in version 2 (waypoint_follower2.cpp), but version 1 (waypoint_follower.cpp) stores a list of coordinates and periodically feeds them to move_base, waiting for a response. There are some examples of launch files here: https://github.com/NicksJackalPackages/waypoint_follower/tree/master/waypoint_follower_tutorials/launch/v1

You could then alter which planners are being loaded into move_base. The move_base launch files for the examples listed above are here: https://github.com/NicksSimulationsROS/multi_jackal/blob/ros-kinetic/multi_jackal_nav/launch/jackal_nav.launch

Good luck!