How to decide the motion of the robot, after the global_path is decided?
Good day,
I am currently struggling with defining the motion of the robot after the path is calculated. At the moment, I publish to /cmd_vel with speed and angular speed values. But, when there are sharp turns in the robot's path; the robot completely skips the path and 'rounds' off through the corner.
I wish the robot to wait for 0.5 seconds and then do a 90-degree turn to the path's direction and move, I am not sure how to execute this? It will be great if I could see any present scripts which are doing this in the stack
Thank you!
Are you using move_base? Are you using one of the Local Planners in the ros navigation package? Or have you created your own Local Planner?