How to use global planner package in hydro-devel navigation?

asked 2014-05-28 15:26:56 -0600

breeze
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updated 2014-05-29 21:09:22 -0600

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Hello, I am a newer and have been learning the book of <<ros by="" example="">> .I have tried the gazebo turtlebot_simulation package and also realised navigation using iRobot and hokuyo in Fuerte and Groovy distribution . I found global planner package using A* algorithm contained in the hydro distribution and hope to have a try.

But i don't know how to change the default "navfn/NavfnROS" object for the param base_global_planner in move_base package .In old navfn package ,class NavfnROS is defined with parameters like /allow_unknown contained in initialization function.I learn that the global planner package can subscribe for the navfn package. however, how to use your param so as to get the plan like befor ?

Your suggestion would be appreciated ,thank you@David Lu.

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@David Lu Look forwards to your attention and furthermore advice.

breeze ( 2014-05-29 14:47:38 -0600 )edit

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answered 2014-05-30 16:16:08 -0600

Ken_in_JAPAN

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Is this all you want to know? For example,

move_base.launch.xml

<launch>
  <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

  <arg name="odom_topic" default="odom" />
  <arg name="map_topic" default="/map" />
  <arg name="scan_topic" default="/base_scan" />

 <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="carrot_planner/CarrotPlanner" /> 
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/eband_planner_params.yaml" command="load" />
    <param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" /> 
    <param name="global_costmap/map_topic" value="$(arg map_topic)" />
    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
  </node>
</launch>

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answered 2014-06-13 12:09:29 -0600

David Lu

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@Ken_in_JAPAN is correct in that changing which algorithm is used is as easy as changing the base_global_planner variable. To use global_planner, just change the value to global_planner/GlobalPlanner

Allow_unknown is still a parameter as documented here: http://wiki.ros.org/global_planner

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@David Lu, Thanks for your comment on changing the value to global_planner/GlobalPlanner!

Ken_in_JAPAN ( 2014-06-14 14:38:24 -0600 )edit

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How to use global planner package in hydro-devel navigation?

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