Can we disable the local planner from move_base ?
Hi, I wrote a global planner plugin for the move_base. I want to test whether it's planning a path avoiding static obstacles in the map. I don't want it's performance to be affected by the DWA local planner now. I don't want to avoid dynamic obstacles too. I mean I do understand that you need the local planner to send velocity commands to the base motor controller but is there some way I can test the global planner by disabling the local planner?
Why do you say the local planner will affect the global planner's performance?
I don't see a need to disable the local planner. I would have your planner publish its plan, like
global_plannerdoes (code). You can then visualize and/or record it. What happens after that (local planning, moving obstacles, etc.) seems irrelevant.