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nobleo / full_coverage_path_planner

Full coverage path planning provides a move_base_flex plugin that can plan a path that will fully cover a given area
Apache License 2.0
547 stars 156 forks source link

Altering waypoints #14

Closed Ytodi31 closed 2 years ago

Ytodi31 commented 3 years ago

Is it possible to alter the number of waypoints or set a maximum distance between two waypoints?

Timple commented 3 years ago

The number of waypoints comes from the algorithm. Of course we can describe a straight line with more points, but why would that be beneficial?

Ytodi31 commented 3 years ago

So when dealing with obstacles, it skips the waypoints as intended but at the cost of large areas not being covered - with more waypoints I am hoping I can achieve better coverage Any tips where I should look into for adding more points?

Timple commented 3 years ago

That sounds like it's a local-planner issue. So the planner should try to stick to the global plan as good as possible. I don't think it's the responsibility of this global planner to cover that?