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Questions tagged [global-planner]

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Adjusting Path Planning Origin in ROS2 Nav2 for a Long Vehicle

I am working with ROS2 Nav2 and the SMAC planner for a long vehicle (a truck), where the planning origin’s traditional placement at the geometric center (base_link) causes some practical issues in ...
Marcus Vinicius's user avatar
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Failed to create a plan from potential when a legal potential was found. This shouldn't happen

I am trying to run navigation with slam on a custom world. I am using the standard nav2fn planner. I first tried running it on my own urdf robot model. That didn't work so I tried using the turtle bot ...
Jsmith413's user avatar
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1 answer
36 views

Increasing re-planning frequency of Nav2 global planner

I'm trying to increase the re-planning frequency of Nav2's A* global planner from 1 Hz to 10 Hz. In order to do this, I changed the expected_planner_frequency ...
indigoblue's user avatar
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1 answer
51 views

How can I determine when the robot reaches the goal in Nav2?

I’m currently implementing my global planner using ROS2 and Nav2. I’ve written a planner plugin in Nav2 following the tutorial at https://navigation.ros.org/plugin_tutorials/docs/...
sippathamm's user avatar
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1 answer
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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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planner_frequency not working once robot stands still

I have written my own global_planner_plugin for ROS which tries to map an initially unknown area. The "goal" variable sent to the makePlan method is therefore unused. As to not have too long ...
user38454's user avatar
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1 answer
59 views

How to Integrate a Custom Global Planner with Move_base for Dynamic Path Generation?

I've developed a custom global planner for a ROS project, which dynamically generates new paths based on certain conditions. This means that the global planner continuously produces new paths during ...
就走吧's user avatar
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1 answer
70 views

How to access the true ROS cost map boundaries instead of defaultones?

I am trying to do a basic RRT global planner implementation in ROS Melodic. I am using a wheeled mobile robot for testing my own global planner plugin for robot navigation through move_base. I am ...
Rahul's user avatar
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38 views

Preempt global planner or give higher priority to FollowPath server

I have created a c++ executable whose purpose is to generate Poses based on the coordinates provided by the user. More specifically, the user provides a number of points in cartesian coordinates (e.g.,...
Pantelis Manouselis's user avatar
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1 answer
117 views

Nav2 Custom planner plugin does not exist

I followed this nav2 getting started guide without issue: I am now following this nav2 custom planner plugin tutorial I have created a new plugin nav2_straightline_planner in my ws/src directory. And ...
Jsmith413's user avatar
1 vote
1 answer
257 views

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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118 views

Can I mix packages from foxy and humble?

Hey Community, currently i using ROS2 Foxy and ROS1 Noetic on the same PC. In the beginning I wanted to use Humble but it only supports Ubuntu 22.04. In order to use ROS1 noetic and ROS2 distribution, ...
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1 answer
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Are constant velocity commands produced by local planner from move_base possible?

Hello, I have a four-wheeled differential-drive robot. I have been able to build a map via SLAM where I would like to have the robot navigate about. The robot that I am utilizing does not have precise ...
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1 answer
27 views

Why RRT based algorithms are not the default choice in ROS for mobile robots?

Hello all, so my question is not related to some hardware or software issue, instead i wanted to ask why RRT based algorithms are not fundamental choices for ROS (i am using melodic), instead why a ...
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1 answer
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dynamic_reconfigure included in global planner slow down TEB

As title. I have my own global planner, and in some situation I want to dynamically reconfigure the navigation parameters. For example, once planner gets navigation goal and parameter information, it ...
user avatar
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1 answer
42 views

How to avoid planner jumping between 2 possible path

Hi everyone, recently I'm using Navigation2 release 1.1.0 with Galactic built from source in Ubuntu18.04. I'm using Smac 2D Planner and TEB controller in my navigation stack, they are run in 10Hz. The ...
user avatar
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1 answer
38 views

How to update the occupancy grid of the rviz map with another map?

Hi! I am using local_costmap (not the raw laser scan data) as an input to a model, from which I receive another map, let's call it mapX. Now, I want that the robot navigates using the information from ...
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1 answer
20 views

Global planner with curvature limit

Hi all, I'm looking for a global path planner (base_global_planner) with a feature of limiting the curvature (or turning radius) of the path. I found teb_local_planner which can configure the minimum ...
user avatar
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1 answer
3 views

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 ...
user avatar
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1 answer
2 views

what difference does it make in NavStack(move_base) with frame_id as map vs odom

We set global_frame for different nodes of the NavStack. Below are the ones I am eager to know about and how they affect the system. Costmap params: ...
user avatar
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1 answer
33 views

Global planner makes robot drive in circles along U shaped path

Hey, I am using ROS kinetic and followed the navigation stack's tutorial on writing a global path planner. Most of the time its working great but on special occasions its behavior seems kinda odd. The ...
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1 answer
32 views

Going crazy - can't find global waypoint node in map

Hi, I am running Autoware 1.14. I have made numerous vector map/lanelet2 maps using the TierIV tool, unity MapToolbox tool and ASSURE Mapper tool. No matter what I do I get the error message GlobalH: ...
user avatar
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1 answer
4 views

Why does the Global planner in connection with amcl not create a new plan when a new obstacle is added in gazebo?

Hello, i use ros kinetic and the husky robot (version 0.3.6). I have created a map with the GlobalPlaner, teb_local_planer and gmapping. Then I used the map together with amcl (1.14.7) and without ...
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1 answer
18 views

What is the difference between the global and local plan in AMCL navigataion?

Hello, I'm using ROS kinetic on ubuntu 16.04 Actually I'm trying to make the node that can execute navigate with its sensors. As far as I've understood, when I point the goal, the ...
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1 answer
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How do I implement other path planing algrithm for ROS global_planner?

I want to implement other path planning algrithm for ROS robot navigation,but I don't how to do it. Originally posted by hubery524 on ROS Answers with karma: 5 on 2019-12-09 Post score: 0
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1 answer
4 views

How do I implement RRT or RRT* algrithm with ROS?

I want to implement other path planning algrithm for ROS robot navigation,but I don't how to do it. Originally posted by hubery524 on ROS Answers with karma: 5 on 2019-12-09 Post score: 0
user avatar
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1 answer
2 views

Why are obstacles added at the edges of the global costmap when GlobalPlanner is used?

I recently run into the following problem. It looks like while using global_planner/GlobalPlanner as global planner whenever I give a goal, obstacles in form of ...
user avatar
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2 answers
52 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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1 answer
13 views

launch "global_planner" without move_base

Hey everybody, I'm still working on my platform which is already running in the meantime. But I had to do some workarounds. To be more precise i didn't manged to set up the move_base to work with my ...
user avatar
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1 answer
20 views

How to set the inflation of the costmap to represent a rectangle robot?

Hi everyone, I looked at this page but I don't understand how to configure the costmap to represent a rectangular robot. This question is a follow-up to this one ...
user avatar
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1 answer
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rospack can not find my plugin

Hi, I am following this tutorial http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS and write a global planner plugin. my package is robocars, my ...
user avatar
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1 answer
4 views

How to get a collision-free path in a known map with move_base?

Hi everyone, I would like to use the global planner only to compute a collision-free path from pose A to pose B for a rectangular robot from a .png map (To be precise, I mean a nav_msgs/Path Message). ...
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0 votes
1 answer
14 views

Global planner with taking into account the robot footprint

Hello all, I was wondering if it exists a global planner which takes into account the robot's footprint and also can be an alternative to the navfn global_planner? Thanks a lot, Originally posted by ...
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0 votes
1 answer
3 views

Unable to go straight ahead with move_base

Our robot is just turning on itself, whatever we ask it. It is heavy and has an important inertia. However, the turning direction keeps to be the same. We wonder why it does not go straight ahead. ...
user avatar
0 votes
1 answer
98 views

Global planner not updating path

Hello, I am using Ubuntu 16.04, ROS-kinetic to run the navigation stack (with global_planner and teb_local_planner) on a Youbot (on Gazebo). Although I am able to send goals and get them executed ...
user avatar
0 votes
1 answer
2 views

How to make global planner avoid certain regions when planning?

Hi, the laser scanner (RPLIDAR A2) on my robot is located very high from ground (almost 6 feet). In the area where the robot will operate, there is a region that is bounded by walls with height of ...
user avatar
0 votes
1 answer
7 views

makePlan of GlobalPlanner plugin

I have saved a few PoseStamped in a file to describe a fixed path in a fixed map, now I want to make a plan out of them and send it to move_base. I wrote my own globalplanner-plugin for move_base, and ...
user avatar
0 votes
1 answer
3 views

global_planner fails to find a plan - It doesn't search certain regions on the map

Here is the situation in the above picture. The robot is between a sofa and a wall, and it is facing upwards. I am setting a goal in the bigger room (right part of the map), and ...
user avatar
0 votes
3 answers
55 views

Global planner behavior upon planning failure

Hi, I am using navigation stack and wondering what is the expected behavior of global planner upon the local planner fails to control robot according to thewaypoints. According to a test that I ran (...
user avatar
0 votes
1 answer
20 views

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 ...
user avatar
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1 answer
4 views

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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2 answers
3 views

NO PATH ! error and questions to gradient_path.cpp in global_planner

Problem Description: I am trying to get a global path based on a 500 * 500 static map with **global_planner** (indigo). I set up the parameter use_grid_path to be *false*, so that the path is ...
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1 answer
16 views

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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4 answers
22 views

Complete coverage path planning ros

Hi all, I have a mobile robot with a Hokuyo Lidar, wheel encoders, IMU and couple of Sonar sensors. I have started working on the Complete coverage path planning and I am wondering if there is any ...
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1 answer
7 views

global_planner changing parameters

Hi folks, I'd like to change the following parameters in the global_planner hydro-devel package to false to use the A* algorithme: ~/use_dijkstra (bool, default: true) If true, use dijkstra's ...
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1 answer
8 views

sbpl_lattice_planner loading move_base plugin fails

Im trying to setup my nav config to use pose_follower as my local planner (so i can have backwards movements) and then reading around, people say NavFn doesnt work ...
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1 answer
9 views

Global planner passes through the wall

When I give a navigation goal to my robot, the global path is just a simple straight between the goal point and my robot current location, even pass through the wall between them. The local planner ...
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1 answer
5 views

move_base accuracy thresholds

Hi there, I'm using a turtlebot to do some navigation stuff and have some high level logic that determines where the turtlebot should go (I have regions of interest on my map, and this higher level ...
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1 answer
17 views

Issues related to navfn and global_planner plugin

Hi, I am using ROS fuerte. I have gone through the navfn . I want a ROS plugin for my own global planner I have Visited this page. I have following doubts: I want to my own global path planner to ...
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1 answer
2 views

ROS navigation real-world implementation?

Hi, I was wondering if there are any real-world systems using the ROS navigation package? I'm talking about commercially applied robots. Does anyone have any info of ROS navigation implementations in ...
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