search

magazino / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
432 stars 154 forks source link

Using mbf_simple_nav #160

Open kledom opened 4 years ago

kledom commented 4 years ago

Hello,

I'm trying to integrate the mbf navigation stack into an existing robot platform. My platform already has the ability to receive messages with a target heading to move the robot in that direction. For starters , I want to implement a simple waypoint following mechanism: My node should receive a list of wgs84 waypoints. Then, I want to calculate the heading between the current robot position and the next waypoint (at a frequency of 1hz) and send the heading to the platform. When the distance between the current position and target position is smaller then some threshold, start with the next waypoint. At a later time I want to extend this mechanism with other functionalities (e.g. object avoidance, etc) I figured out that mbf_simple_nav is the best interface for my problem (I don't need a costmap right now). Could you give me some advice on how to start implementing the needed behaviours?

spuetz commented 4 years ago

Japp mbf_simple_nav is for usage without a map binding. Since your case don't need a map, this should be the right tool for you. Just implement the interfaces in mbf_abstract_core and load your implementations as plugin.