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ZJU-FAST-Lab / ego-planner

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How do I send a new waypoint without using RViz? #8

Closed kadhirumasankar closed 3 years ago

kadhirumasankar commented 3 years ago

I'm trying to set up a rospy node that I can use to set a new waypoint for the drone to go to. What topic should I publish to?

I tried ego_planner_node/goal_point and move_base_simple/goal and I got an error saying those nodes hadn't been initialized yet. When I tried to initialize them, I got an error saying namespaces could not be used in rosnode initializations.

bigsuperZZZX commented 3 years ago

Well, it's easy. I recommend you to read the following code in ego_replan_fsm.cpp first, which is related to waypoint receiving and processing. 1 2 3 Then I'm sure you can figure out how to send custom waypoints.

bigsuperZZZX commented 3 years ago

If there is no more questions, please close this issue, thanks.

kadhirumasankar commented 3 years ago

Hi. Thanks for the reply, and thanks for referring me to that code.

For the reference of anyone who looks at this issue, the trajectory planner is subscribing to the /waypoint_generator/waypoints topic. I have not tried this yet, but I expect that new messages must be published to that topic.