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Questions tagged [base-local-planner]

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How to Extend the Reach of Global Path Planning in Nav2 for Large Open Areas?

My operational environment is a vast bayland terrain, where the robot needs to navigate effectively over long distances between waypoints (In Red). Issue Description: My global planner struggles to ...
Marcus Vinicius's user avatar
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nav2. how to use only local planner?

I'm using ubuntu 22.04 ros2 humble I want to compare the ability of local planners in nav2, so don't want to use global planner such as a*, theta* or else The thing i want to do is only creating ...
sanchez_khalifa's user avatar
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Comparing navigation algorithms

I am new to Nav2 stack and currently there are a bunch of navigation plugins to choose from (https://navigation.ros.org/plugins/index.html). I am interested in how to choose available algorithms from ...
Peera Tienthong's user avatar
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2 answers
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Integrating Alternative Local Planners (Controller) with ROS 2 Navigation2 Stack for an Ackermann Robot

I'm working on a project with ROS 2 Iron and the Navigation2 stack, focusing on an Ackermann-steered robot. I've encountered issues while trying to integrate alternative local planners, such as TEB, ...
Marcus Vinicius's user avatar
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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 ...
furkancetin's user avatar
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1 answer
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Local Planner Not Extending Beyond Robot's Footprint Boundaries to Distort Global Planner's Path

I've been facing an issue with the local planner in my ROS2 navigation setup. The core of the problem seems to be that the local planner does not extend sufficiently outside the robot's footprint ...
Marcus Vinicius's user avatar
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1 answer
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cannot convert ‘tf2_ros::TransformListener*’ to ‘tf2_ros::Buffer*’

I am trying to upgrade some existing code that use tf with kinetic to use instead tf2 with noetic. In the following line of code, planner_ is of type ...
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doubt regarding the base_local_planner::transformGlobalPlan() function

I am trying to understand the base_local_planner::transformGlobalPlan() function. As per my understanding, the function takes in the global_plan (generated by the <...
skpro19's user avatar
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unable to integrate local planner plugin into move_base

I am trying to integrate my local path planner plugin into move_base. On launching the modified ...
skpro19's user avatar
  • 314
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2 answers
178 views

move_base local planner deviates significantly from global planner path

Hi ROS community, I am in need for some help with a project involving the use of move_base package with Ubuntu 16.04, ROS Kinetic. I have looked through most of the other issues with move_base that ...
user avatar
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2 answers
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Is there a way the robot go through goal point without stopping?

Hello, I want to limit the travel path of the robot to some extent. So, I set goal minutely and published the goals to move_base using SimpleActionServer. This plan was successful that the robot go ...
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Local Map (navigation stack) not showing obstacle

Hi, Can someone shed some light on how to display lasercan obstacles for use in Navigation Stack (AMCL+MOVE_BASE, ubuntu 18.04, Melodic)? I spent lots of time changing configurations and searching for ...
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1 answer
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Move base navigation malfunctions

Hi all, I am developing a diff wheel autonomous robot using the move_base package. I use wheel encoders, a lidar sensor and AMCL to estimate the current pose. When I set a simple goal, 1 meter to the ...
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2 answers
53 views

What global and local path planning algorithms do ros use?

What is ros default global path planning algorithm? what is ros default local path planning algorithm? Are other algorithm implemented in ros (such as D star, potential field) such that one can decide ...
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Publish local plan as xy coordinates

Hi, I can obtain the /cmd_vel information for the local plan of robot to extract velocities and angles but is there usually a topic that I can subscribe to to obtain the local navigation goal in terms ...
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Robot goes through lethal terrain using the navigation stack

I want to make the robot navigate an environment with a maximum possible offset with respect to a user specified path. In order to accomplish this, I had thought of creating a virtual "tunnel&...
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1 answer
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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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1 answer
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Starting point of teb_local_planner

Right now i have a car which I want to control with the teb_local_planner at walking speed. And as the base_link is above the rear axle, the plan is constructed from there through the footprint and ...
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1 answer
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How to switch local planner in move base?

Hi, all. Thanks to @Akif, I have succesfully implemented a package to switch global planner as this link advises. Then I also want to implement a package to switch local planner as the way I did in ...
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1 answer
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Is it possible to replace the local planner in the default ROS Navigation stack to one that uses reinforcement learning?

I'm building a driverless car and the current problem is the TEB Local Planner. I was wondering if it is possible to replace with an RL agent, and whether this has been done before. Originally posted ...
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1 answer
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Poor performance of base_local_planner - advice for parameter tuning?

Hi All, I am having some issues with object avoidance when using move_base. As you can see in this video I made the robot doesn't navigate the obstacles in a smooth manner. My suspicion is that my ...
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1 answer
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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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1 answer
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How to call dynamic_reconfugure service of base_local_planner through code

Hello everyone! I want to modify the max_vel_x in base_local_planner_params.yaml at runtime. I followed the tutorial Dynamic Reconfigure Python Client to create a client : ...
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1 answer
6 views

Turtlebot doesn't move in Gazebo

Hello, I am trying to add different local planner to my ROS navigation stack, eband_local_planner is one among them. I'm using the navfn as global planner and eband as local planner which I downloaded ...
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1 answer
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[move_base] want to completely follow the global path

Dear all, I am using move_base for my robot navigation, and following the tuning tutorial to adjust my yaml file which used in base_local_planner. ex: pdist_scale:1.0 gdist_scale:0.5 But my local ...
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1 answer
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base_local_planner simplest navigation (no curve lines)

hi there, i'm pretty new to ros world and i want my robot to navigate only straight+inplace rotation. I noticed that with base_local_planner the robot start to go navigate forward before finishing the ...
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1 answer
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How to move a holonomic robot/object in Gazebo from one position to another?

I have a cylinder model which uses the Gazebo_ROS_planar_move plugin (libgazebo_ros_planar_move.so). It uses the Carrot planner for the global path. ...
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How to not use laser data for navigation?

I'd like to prevent the local planner from using laser data, but I still want to publish it so that I can process it elsewhere. How can I do that? Originally posted by mitch on ROS Answers with ...
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1 answer
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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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1 answer
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Local costmap parameters for tight spaces

I'm tuning our navigation stack for a smaller mobile platform in an office environment and we're having trouble adjusting the costmap so that the local planner can get through doors. Other than this ...
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2 answers
3 views

How to use the functions of Navigation Stack separately?

Hi all, I am interested in navigation on mobile robots. Following this tutorial I have successfully simulated the mobile robot running on rviz by given 2D Nav Goal. The rqt_graph is as attached. ...
user avatar
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1 answer
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Movebase: robot move backwards when it detects an obstacle

Hi all, What is the parameter that controls how far backwards the robot goes when it detects an obstacle at close proximity? Is it an issue related to the local planner or a setting in move_base? ...
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1 answer
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Robot moves forward only

Hi everyone, Robot goes into narrow place but it can't go back to first position. It is trying to escape with moving a bit backward (then forward) infinitely at corridor's end. How can I make it ...
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1 answer
3 views

robot rotation in place speed lower then minimum

hello everyone i am having a difficulty with my robot. it navigates to a goal pretty well. the thing is when it needs to rotate at the end to the orientation of the goal it doesnt seem to move. when i ...
user avatar
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1 answer
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max_vel_theta parameter?

Hi everyone, In the source code "trajectory_planner_ros.cpp" of base_local-planner, I didn't see it retrieve the value of the parameter max_vel_theta. (You can confirm it with following ...
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1 answer
4 views

dwa_local_planner penalize negative x velocities

Hi all, I am using dwa_local_planner as my local planner and there is a parameter penalize_negative_x in the yaml file. In my case, it does not seem to have any ...
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2 answers
4 views

Navigation stack hits obstacles

Hello guys, I am trying to run my robot with navigation stack. It is a four track differential robot as it is shown in the picture below. I am using gmapping instead of amcl so I will discover and ...
user avatar
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1 answer
3 views

Unify parameters names for local planner

Plugin dwa_local_planner uses path_distance_bias/goal_distance_bias/occdist_scale, but base_local_planner uses pdist_scale/gdist_scale/occdist_scale with the same semantics. the configuration for some ...
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1 answer
11 views

How do I make the local planner rotate in place?

How can I get the local planner to turn in place and then head towards a goal instead of moving forward and turning at the same time? I am facing issues when the robot is able to reach a goal but ...
user avatar
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1 answer
3 views

doubt regarding working of base_local_planner and oscillations about the global plan

Hi all, I have a doubt regarding the working of the base_local_planner, specifically Trajectory Rollout planner. According to the above link, the local planner samples in the robot's control space, ...
user avatar
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1 answer
40 views

move_base without base_local_planner

I have an alternative navigation package that generates cmd_vel messages given the plans published on /move_base/NavfnROS/plan. I already redirected topics and everything runs well... but there is a ...
user avatar
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2 answers
9 views

wrong robot orientation at the goal

Hi all, You must have seen lot of posts saying that robot keeps on rotating when it is near the goal but I have an opposite problem. In my case, when the robot reaches the goal within ...
user avatar
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1 answer
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Difference between trajectory_planner.cpp and trajectory_planner_ros.cpp

I am currently trying to work with the trajectory planner in base_local_planner. But now I am A bit confused, because the two source files ...
Christian's user avatar
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1 answer
32 views

DWAPlannerROS vs TrajectoryPlannerROS

Hi all, I am currently looking to implement my own local planner plugin for the navigation stack. I was looking at DWAPlannerROS and TrajectoryPlannerROS to help me start with. Though I am not sure I ...
user avatar
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1 answer
11 views

Switching between Two Local Planners in Navigation

Hello, I would like to use both DWAPLanner and my own local planner on a robot, and depending on the situation switch between these two local planners. Is it a way ...
user avatar
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1 answer
6 views

Difference between car-like and skid-steer robot?

Hi, I am using the base_local_planner package with the holonomic flag set to false. However, I want to know if there will be any difference in performance between a car like robot and a skid steer ...
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1 answer
3 views

About local planner?

Hi all, I'd like to implement a new local planner in move_base. My new planner is based on a Fuzzy-PID controller and is implemented in c++. My question is: can I integrate it in the ROS's navigation ...
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1 answer
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how to run base_local_planner and dwa_local_planner standalone?

hi, all, I am trying to run the navigational core move_base separately. there are number of nodes to run before it functions properly. among them, I cannot find any executable under base_local_planner ...
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1 answer
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[hydro] Error in move_base.launch

When I launch my move_base.launch, ( http://wiki.ros.org/navigation/Tutorials/RobotSetup ) , I got this error : ...
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1 answer
6 views

Bias move_base to move forward and not turn?

Hi, I'm running the navigation stack on the Seekur Jr. robot. After a lot of parameter tuning, I have managed to get the robot to move satisfactorily to the goal. However, when the goal is mostly ...
user avatar