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How to get robot to follow line in RVIZ/ other GUI? [closed]

asked 2022-12-15 20:22:24 -0600

chased11
152 ●5 ●33 ●22

I have a robot setup that will move to a specified point of a predetermined map in RVIZ, but will eventually need to load these waypoints as an action/service so it can reach multiple waypoints. I would like to be able to draw straight lines that the robot should try to follow and stick to as long as there are no obstacles. Is there a good way to implement this strategy of having a path the robot should follow but will avoid an obstacle and return to the specified path once cleared?

i.e. a lawn mower following a straight line, avoiding a tree and returning to that straight line

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Closed for the following reason the question is answered, right answer was accepted by chased11
close date 2022-12-20 22:54:45.463387

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answered 2022-12-18 09:13:59 -0600

Mike Scheutzow
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move_base already supports the follow-path-unless-obstacle if you configure it correctly. Start by understanding the difference between a "global planner" and a "local planner" (hint: what each planner type outputs, and when, is very different.)

Confusingly, one of move_base's global planners is named GlobalPlanner, as if it's the only one.

As far as I know, there is no feature in standard ros to feed a list of waypoints to move_base. Everybody just writes custom code to do this.

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Sounds good. Thanks!

chased11 ( 2022-12-19 11:33:05 -0600 )edit

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Asked: 2022-12-15 20:22:24 -0600

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Last updated: Dec 18 '22

How to get robot to follow line in RVIZ/ other GUI? [closed] edit

Closed for the following reason the question is answered, right answer was accepted by chased11 close date 2022-12-20 22:54:45.463387