Questions tagged [base-global-planner]

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Obtaining different results with the same parameters

There's something weird about the algorithm I use in my robot: In the planner algorithm I use, I can send my robot to a point on an existing map and bring it to the starting point from that point. And ...
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Carrot_planner what algorithm it use

At first i've tried global planner for my project, just because i can use different algorithms for path planning. But then i found out that carrotPlanner is more suitable for my project although i ...
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Is it possible for the global planner in move_base to copy an already made plan?

I understand from the nav_core::BaseGlobalPLanner class that MakePlan() needs a goal, and a starting point and will fill the ...
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How to use a subscriber in a global planner plugin?

I am trying to write a custom global planner using this tutorial. I am not computing my path in this global planner, all I want to do is make this global planner pass on a path that is computed by my ...
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There is no Global Planner on Turtlebot3 Navigation Package

i install ros melodic and the turtlebot3 package with the procedure on this link : http://emanual.robotis.com/docs/en/platform/turtlebot3/pc_setup/#install-ubuntu-on-remote-pc Then i want to edit the ...
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Adjusting Initial Position of /map Frame for Gazebo and Local Costmap

Hello everybody, this is my first question :) So, i just started using the husky_navigation package in order to simulate and navigate the Husky a200 in a field. I work on melodic. After I used ...
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Failed to create global_planner/GlobalPlanner

Hi, I have this error when trying to create a custom global planner. ...
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Using RRT* from OMPL as global planner in ROS

I want to use RRT* as global planner for my turtlebot. Should I reinvent the wheel by writing the algorithms myself from scratch (as a plugging) as suggested here: https://answers.ros.org/question/...
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Genetic Algorithm as global planner plugin

I am working on project "path planning for differential drive". Now I try to write genetic algorithm planner plugin based on "iPath" code. My code in this repository : https://...
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How to switch to the default global planner when the custom global fails to make a plan

I tried setting the parameter "/move_base/base_global_planner" as "global_planner/GlobalPlanner" when my custom planner fails to make a plan and return false in the function "...
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Global Path Planner Plugin with Oscillating Husky and Flickering Path Issue

Hello, I am trying to make a predefined path for my robot to follow. From my question here, I was adviced to create a custom global planner plugin to define the path and allow the local planner to ...
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base_global_planner doesn't update in planner_frequency

environment OS: ubuntu 14.04 on an x64, with kernel 4.2.0-42-generic ROS: indigo package: ros-indigo-navigation:amd64/trusty 1.12.14-0trusty-20180110-202207-0800 config base_global_planner: "...
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What are the subscribed topics of local planner from global planner?

Who generates > nav_msg/Path local planner or global planner? If it is generated by global_planner then how local planner use it to avoid obstacle. Can we ...
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2 answers
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Checking if a custom global planner is loaded

I used this this tutorial in order to create my own global planner. However, when I added some ROS_INFO in order to show me if it is loaded or not, I receive no output. So, my question is how can I ...
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Inform move_base about blocked plan

I saw that we can signal move_base that the path is blocked in order to recalculate the global plan as quoted in the next sentence. ~planner_frequency (double, default: 0.0) The rate in Hz at which ...
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What is the algorithm used in base_local_planner

I am using base_local_planner/TrajectoryPlannerROS as base local planner and navfn/NavfnROS as global planner for navigation. I didn't find the algorithm of these planners anywhere. In the tutorial of ...
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Static global map updating

Hi, I have the ROS navigation stack running on a robot. I can choose a point in RVIZ for the robot to navigate to and it is working well, except for sometimes the robot will start doing clearing ...
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Robot planner tuning - does not plan down the middle of small pathways

Hello All, I've had some difficulty tuning the global planner. The basic problem is the plan ends up hugging one side of the path. In this case we are using "unknown" cells to restrict the ...
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How to use the occupancy grid in the global planner?

Hey everybody, I am trying to create a path planner, that plans reliable paths in SLAM maps. Therefore I don't want to use the costmap, which doesn't work with probabilities anymore but the occupancy ...
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Failing to load my Global Planner

Hey Guys, I am following this tutorial to write my own global planner. Everything seems to work fine and I can see my plugin, when I call: rospack plugins --attrib=plugin nav_core but if I want to use ...
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Setting default tolerance on Global Planner with Move Base

Hey, I am trying to set the default tolerance on the GlobalPlanner using move_base for a simulation I am doing with a husky. The key behavior I am looking for is that if I give the husky a goal that ...
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Global planner for multiple robots

Hi, is there a global planner that would take into account multiple robots' locations and multiple goals? Or is there an interface to move_base that would enable writing one? The nav_core::...
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When planning a trajectory, why is there never an initial in-place rotation?

Maybe this is a result of my configuration choices, but why does the planner never do an initial in-place rotation? It is happy to do an in-place rotation at the end of a move. Originally posted by ...
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2 answers
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How to make custom global planner plugin communicate with local planner?

Hi all, Recently I have been developing my own global planner plugin for research purpose, but since I adapted source code from 3rd party projects, it turns out to be a collage and I may have miss ...
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2 answers
19 views

Is there a local planner for car like motions? DWA planner struggles on path's end

Hi, I'm using dwa_local_planner/DWAPlannerROS as local planner and, global_planner/GlobalPlanner as global planner. When the ...
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1 answer
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Cannot load OMPL global planner plugin

Hi all ! Recently I have been trying other's global planner plug-ins, and I came across this global planner plugin (https://github.com/windelbouwman/move-base-ompl.git) and keep running into this ...
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Theorycrafting: "Virtual" walls for husky navigation

Hello ROS community! I just got into ROS through a project I'm participating in at my University. My job is to navigate the husky given a set of breadcrumbs (waypoints) and a zone (like a "...
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1 answer
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move_base crashes with custom global planner whenever instantiating base_local_planner::CostmapModel

I have written my own global planner and have successfully registered the plugin so that move_base can detect it. I am getting a problem where move_base will crash whenever I instantiate an instance ...
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1 answer
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following a boustrophedon path in a given room with obstacles

Hi all, I have a mobile robot which is navigating around a room, I already have the map of the room. I am using the navigation_stack of ROS. I am using rotary encoders for odometry. I am fusing the ...
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2 answers
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base_local_planner does not follow the global plan accurately

Hi all, I have a mobile robot which is navigating around a room, I already have the map of the room. I am using rotary encoders for odometry. I am fusing the data from Rotary encoders and IMU using ...
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1 answer
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How to predict the behavior of Autonomous Navigator of ROS?

Hi, I am specifically interested in predicting the next move of autonomous navigator of ROS. What should be the packages, I need to look at. I have gone through this page ? I f I want to modify the ...
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1 answer
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moving a robot inside specific area

I have a pioneer robot and I want to move it in the lab and I want to keep it in a square area. So when ever it want to cross that area it cant. I dont want to send a zero velocity to it so it will ...
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1 answer
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Navigation goal offset

I am using the default navigation with TrajectoryPlannerROS and the global_planner. I realized that the robot never really reaches its exact goal. So I assume there is a certain threshhold, like an ...
Christian's user avatar
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global path planner pass through high cost area on local cost map

hi, all, the global path planner on my robot NavfnROS always produces plans that pass through dark area on local cost map. and whenever it does so, the robot refuses to move. I guess it's because ...
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1 answer
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where are stored obstacles from map?

hello, I want to check if my path is correct on many maps, so i want to know the position of the obstacles. The map is provided by map_server ( a picture in black for obstacles and white for empty ...
GuillaumeB's user avatar
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2 answers
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How to solve this problem from running a new BaseGlobalPlanner in move_base

Hi, all, I wrote a global planner by modifying this ompl_planner_base code which is based on OMPL . The original code is an old style, so I modified it to run it in Hydro successfully. I also built it ...
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2 answers
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Package "ompl" does not follow the version conventions

Hi all! I'm trying do implement a base_global_planner plugin with RRT algorithm, for that I'm using the ompl package. The code compiles with no errors, and I followed the steps for registering the ...
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1 answer
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robot clearance from walls

hi, all, I have been testing my robot for a while. there's a problem persists. the global plan would put the path along and close to the wall. especially at the corners, each time at the corners, my ...
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1 answer
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move_base global planner plans outside static map

Hi, The default global planner plans outside the static map i.e. unexplored area. Is there any parameter I have missed out? planner_params.yaml ...
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1 answer
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Problem with new BaseGlobalPlanner plugin

I tried to make a new BaseGlobalPlanner plugin for use with move_base. In this Plugin I use ros-hydro-ompl package. After I've created .cpp and .h (that include ompl library) file, I've compiled with ...
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1 answer
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the way to check which planner is selected

This question has relation to my former question ( http://answers.ros.org/question/152196/about-a-way-to-change-default-global-planner/ ). I want to confirm which planner is selected. I selected the ...
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about a way to change default global planner

Hello, Everyone might think that this question is same as this article ( http://answers.ros.org/question/39347/how-to-change-global-planner-of-move_base/ ). Actually, as following the answer, I edited ...
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1 answer
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Global_planner package with A* planner question

According to this post the global_planner package is a refactoring of the NavFn package. The global_planner package also has an A* planner implemented and seems to be much cleaner than the NavFn ...
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The goal sent to the navfn planner is off the global costmap. How to send a goal more than 10 meters away from the robot?

Hi Guys, Using Groovy's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 100 meters away from the robots current position, if not more. The local ...
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1 answer
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Turtlebot2 use sbpl_lattice_planner to navigate, but get "failded to find a solution"

I just get the Turtlebot2. It works well with default move_base global planner. I can give the goal in rviz, and it move to the goal correctly. Now I am trying to use sbpl_lattice_planner as global ...
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Move base global planners switching

Hi, After reading http://answers.ros.org/question/9888/switching-global-planner/ I've got some questions regarding the issue of switching global planner. As I can understand the global planner is a ...
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