search

ros-planning / navigation_experimental

Experimental navigation techniques for ROS robots.
306 stars 140 forks source link

Pose follower: visualization of global plan added #26

Closed sumejko92 closed 6 years ago

sumejko92 commented 6 years ago

I have added the publishing of the global plan within the pose_follower whose poses the pose_follower follows for visualization purposes. The plan is published on the global_plan topic with the PoseFollower namespace. Until now pose follower global and local plan topics existed but could not be visualized in RViz. Now a copy of the global planner path that is passed to the pose follower is republished for visualization. Even though some global planners publish the global path for visualization (like global_planner), some like carrot_planner dont so now the pose_follower will always publish the path that it is following not depending on the global planner used. It was tested on ROS Kinetic, Ubuntu 16.04 and a Jackal Clearpath robot.

mintar commented 6 years ago

Thanks! Squashed + merged in c63c2e28.