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amslabtech / state_lattice_planner

ROS implementation of State Lattice Planner
BSD 3-Clause "New" or "Revised" License
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How to Use this planner #24

Closed YouShaoze closed 2 years ago

YouShaoze commented 4 years ago

I try to use it in clearpath husky robot，but in the rviz I cannot find the /local_goal topic and the /cmd_vel could not be published. 20200731160057

Taka-Kazu commented 4 years ago

It looks like you are launching a planner node using state_lattice_planner/launch/local_planner.launch. In the launch file, some topic names are remapped. https://github.com/amslabtech/state_lattice_planner/blob/6793de79b272c20fa9948a4a65b8627e9b33c6b9/launch/local_planner.launch#L39-L42 So cmd_vel is remapped to /local_path/cmd_vel. If you prefer the name cmd_vel, you can simply delete the remap.

Unchecking the Dead sinks and Leaf topics checkboxes (at the top left of rqt_graph) will help you to debug.

And although this is not directly related to the topic at hand, you don't need to run lookup_table_generator with the planner. The lookup_table_generator is implemented as a ros node, but it doesn't communicate with other nodes and generates a lookup table (csv file) from the given parameters.