switching global planner
Hi,
In nav_core default global planner is navfn, but I want to change it to carrot planner or something else (in future it will be my global planner). What I have to change and where?
ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi,
In nav_core default global planner is navfn, but I want to change it to carrot planner or something else (in future it will be my global planner). What I have to change and where?
You'll have to change the base_global_planner
parameter of move_base. See the move_base docs for more details.
The string you edited is the default value for the parameter. You could have a parameter file loaded, or defined that parameter in a .launch script, which defines the base_global_planner as navfn, therefore it never uses your default value.
Try finding if you got a parameter like this set up in some config file or launch script, and change it to your carrot planner. Generally you shouldn't need to edit the code, you can adjust most navigation settings using parameters.
Asked: 2012-01-19 06:17:17 -0600
Seen: 1,209 times
Last updated: Jan 19 '12
what is the reasoning behind current architecture of navigation stack (move_base), the way it is?
how to get a copy of global costmap from move_base
How to set unknown pixel as goal in move_base
move_base warning sensor out of bounds
Possible bug in move_base.launch
Sending goal for navigation using SimpleActionClient
It was first thing I've done. Now it looks like this: private_nh.param("base_global_planner", global_planner, std::string("carrot_planner/CarrotPlanner"));