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ntnu-arl / gbplanner_ros

Graph-based Exploration Planner for Subterranean Environments
BSD 3-Clause "New" or "Revised" License
690 stars 153 forks source link

Setting a goal for planner #52

Open celikemir opened 5 months ago

celikemir commented 5 months ago

Hi @MihirDharmadhikari thank you for great work.

I wonder that is it possible to set a navigation point for planner like geometric location ( lat, lon ) and stoping the planner when arrive ?

MihirDharmadhikari commented 5 months ago

Hello @celikemir,

As gbplanner is an exploration planner it does not accept a goal to navigate to in unmapped space. However, if you have the robot explore and then want to plan to a point in the mapped space, you can use the functionality explained here.

Best, Mihir

celikemir commented 5 months ago

thank you for answer. I am able to check robots' gps position and try to make gbplanner to go closer defined gps position. Maybe you can navigate me to related to coding parts and I can try to modify it.

MihirDharmadhikari commented 5 months ago

Hello,

There is a function in the code here that accepts a goal point and can plan a path to it in the known map. You can use this function for your task.

Best, Mihir