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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
424 stars 154 forks source link

Changing frame from which global plan is planned #268

Closed Wimll closed 3 years ago

Wimll commented 3 years ago

Hi there,

I am using move_base_flex with the sbpl_lattice_planner to plan a route for my robot. I want to change the frame from which the route is planned, instead of the standard base_link to another tf named steering.

I thought by changing the global_costmap/robot_base_frame parameter to steering the route using sbpl_lattice_planner would get planned from the steering frame, since global_costmap/robot_base_frame is used in the getRobotPose of move base flex. However, this is not what seems to be happening even though the robot_base_frame is set correctly.

Using a manual tf transform to change the start pose of makePlan works, but changing the global_costmap/robot_base_frame does not work.

Can someone point me in the right direction into what I am missing?

Thanks!

Rayman commented 3 years ago

You probably also have to change the robot_frame parameter, in addition to changing the *_costmap/robot_base_frame parameters.

Wimll commented 3 years ago

Thanks Rayman! I tried this and it works flawlessly. However, I could not find the robot_frame parameter in the documentation but only in the source code, is this correct?

Rayman commented 3 years ago

I'm afraid it's not documented, I just did a quick search for base_link in the code :)