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at-wat / neonavigation

A 2-D/3-DOF seamless global/local mobile robot motion planner package for ROS
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Visualize Global Path? #565

Open HappySamuel opened 3 years ago

HappySamuel commented 3 years ago

Hi

Is there a way to visualize the global path from robot pose to target goal, like the global path in navigation stack? So far i only found the local path that generated.

Best, Samuel

at-wat commented 3 years ago

planner_3d doesn't have a single path as global path from the start to the goal. But it calculates all paths to the goal from all possible positions as a distance map which is published to /planner_3d/debug when debug_mode parameter is "cost_estim".

Gradation in this snapshot is a distance_map in planner_cspace and the global path from any start is determined by following the most steepest gradient direction from the start.

HappySamuel commented 3 years ago

Hi @at-wat

Thanks for the explanation. I found the path generated via planner_3d is very feasible for the robot to track, better than navigation stack local planner. If i want to make use of your planner_3d to generate a local path from the navigation stack global planner, can help to advise a direction or steps to be done to achieve this?

Best, Samuel