Plan to Waypoint Function cannot work

ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments

BSD 3-Clause "New" or "Revised" License

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Plan to Waypoint Function cannot work #30

Closed Rye450 closed 2 years ago

Rye450 commented 2 years ago

Hello,I am trying the Plan to Waypoint function in the UI which you mentioned in

https://github.com/ntnu-arl/gbplanner_ros/wiki/Demo#5-plan-to-waypoint-using-the-global-graph.

I followed your instructions:First,I set the goal point using the 2D nav goal button in rviz interface.And then,I clicked the Plan to Waypoint button in the UI. From the terminal output,I can see that the goal point has been set.However,the planning path doesn't go to goal point. Screenshot from 2022-10-03 17-29-23 Could you tell me why? I am struggling with solving this problem for a long time,and still have no idea.

MihirDharmadhikari commented 2 years ago

Hi @Rye450 ,

To send the robot to a specific point, the robot must have first mapped some area around it. Then you can give the waypoint using the following steps:

Press Stop Planner
Give the waypoint with the 2D nav goal
Press Plan to Waypoint. If Stop Planner is not pressed, then the planner will not go into the waypoint following mode. If this does not work, can you compile the code with this set to Verbosity::DEBUG and then rerun it? This should print out if there is any error. Let me know if this works.

Best regards, Mihir

Rye450 commented 2 years ago

Hi @MihirDharmadhikari It works when I followed your instructions as above.I guess I missed the Press Stop Planner step before. Thanks a lot for sharing this awesome work!

MihirDharmadhikari commented 2 years ago

Glad to hear that it worked!