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Hi, I have got the turtlebot to navigate autonomously using the turtlebot tutorials. I was wondering if there is any package/tutorial out there to make the turtlebot handle multiple goals. For example, first go to goal #1, then goal#2 and so on. I assume this would not be possible using rviz and that I would have to write my own trajectory planner etc., For this, I was hoping to get hold of the source code that rviz uses and then modify it to suit my needs. Is there a way I can get the code (for sending a navigation goal and autonomously navigating there) used in rviz? Any guidance will be appreciated. Thanks.


Originally posted by turtlebotnewbie on ROS Answers with karma: 78 on 2013-07-08

Post score: 3


Original comments

Comment by TFinleyosu on 2014-03-10:
I'm working on a similar project. Did you ever get this going? If you did, would you share your solution?

Comment by guigui on 2014-06-25:
Hi, I want to know if you had make this (turtlebot autonomous navigation with multiple goals), and how did you process? thanks a lot

Comment by Ayush Sharma on 2017-01-19:
Did you get the code you were looking for??

Comment by rahul.pillai93 on 2017-03-11:
Hey. Can anyone provide a solution for this yet? I am trying navigation with multiple goals. Thanks

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2 Answers 2

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You can write your own node to program it. You might find move_base package documentation useful to achieve that : http://www.ros.org/wiki/move_base


Originally posted by Lucile with karma: 318 on 2013-07-08

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by tfoote on 2013-07-09:
@Lucile's answer is what I would recomend but to directly answer your question. rviz's source can be found at: https://github.com/ros-visualization/rviz

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You might want to check out. https://github.com/yujinrobot/yujin_ocs/tree/hydro/yocs_waypoints_navi This helps to navigate around multiple poses.


Originally posted by jihoonl with karma: 634 on 2014-03-10

This answer was NOT ACCEPTED on the original site

Post score: 2


Original comments

Comment by jorge on 2014-06-25:
With this package you can both click on RViz for intermediate goals or pass them in a YAML file. Also you can make both a sequence of goals or an infinitely repeated loop.

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