Does the move_base plan a navigation in real time?

Question

Hello ! Now I meet a new question . I had a LIDAR on my real car , and the pointclouds of obstacle were showed around the simulate car on the blank map . When I give a goal 2D navigation on the blank map , the simulate car and the real car will go to the goal . Now I hope the car can avoid the obstacles when going to the goal . The move_base will give a navigation to the goal , but it does not plan a new navigation in real time when the car meet new obstacles .

I hope the move_base can plan a navigation in real time . I am confused about it !

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Originally posted by Lau on ROS Answers with karma: 47 on 2014-08-24

Post score: 1

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Original comments

Comment by Lau on 2014-08-24:
Another question , I input the PointCloud2 msg which is the obstacles pointcloud to the move_base . Am I right , or should I input the original pointcloud to the move_base ?

Answer 1

If you are talking about the computer science term "real-time" you should check this answer.

If you are talking "real-time" meaning "fast enough", it largely depends on your hardware resources and on the parameters you are using in the planning configuration. If this is the case, you can use a faster computer and relax the planning parameters, check this answer.

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Originally posted by Procópio with karma: 4402 on 2014-08-25

This answer was ACCEPTED on the original site

Post score: 2

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Original comments

Comment by Lau on 2014-08-26:
My car can not avoid the obstacles but go forward through the obstacles ，I am confused . should I change some config ？

1. List item

Comment by Procópio on 2014-08-26:
the default move_base planner is not designed to avoid dynamic obstacles.