Questions tagged [local-planner]

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Which coordinate system should be used for local planning, odom or map?

I am designing a local planning system, and based on the suggestions provided on the ROS Wiki, it seems that the real-time reliability of the odom coordinate system is higher. Therefore, I have chosen ...
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Optimizing Swerve Drive Robot Performance for Real-world Implementation with MPPI Controller

We are currently developing a swerve drive robot utilizing the MPPI controller, but we're encountering challenges in transitioning from simulation to real-world operation. To provide context on the ...
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ros2 mppi controller for dynamic obstacles

I have been attempting to fine-tune the MPPI controller to avoid dynamic obstacles that are not detected by the global planner. However, I have been unsuccessful. The behavior observed is as follows: ...
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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 <...
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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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move_base_flex loading DWB_local_planner using Adapter, but cannot plan

Hi, I'm trying to get familiar with SMACH and adapting tutorial, but changing default dwa_local_planner to DWB, since it showed a great performance. Since It's nav_core, I'm using nav_core_adapter, ...
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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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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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Multi-robot Navigation - Cooperative Navigation

I have setup navigation stack successfully . I have following configuration : Mutiple bots under different namespaces Seperate Planners for individual bots Static Map generated before-hand No laser ...
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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. ...
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How do i switch between planners at runtime

I need to be able to switch between two planners based at runtime based on some logic devised. How exactly do i do this if both are ros nodes? (Is it possible to do this even if these nodes are not ...
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what is the meaning of transformGlobalPlan in goalfunction.cpp line 80

/** @brief Transforms the global plan of the robot from the planner frame to the frame of the costmap, selects only the (first) part of the plan that is within the costmap area. @param tf A ...
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navigation stack with teb_local_planner planning path through wall

Hello! I'm currently trying to use teb_local_planner to get my robot to navigate through the willow garage simulation. However, I have the issue that in specific situations the local path planning ...
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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 (...
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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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Navigation Experimental and Pose Follower

Hi, Is there any documentation for navigation_experimental, specially the pose_follower local planner? I was wondering if it is compatible with the ROS navigation stack? Can this pose_follower local ...
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problem with obstacle avoidance and the local planner

Hello, I have a problem regarding obstacle avoidance and local planning. I have a short range Primesense sensor which gives me the scan for my navigation. I am able to do mapping, localization and ...
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Is it feasible to use two local planner in Move_base?

Hi,all, I want to combine the functionality of collision avoidance of DWAPlanner and the functionality of multi-robot collision avoidance of collovid. Both of them are local planner and with different ...
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navigate to a local target

Dear ros-users, I'm searching something to navigate toward an ar_tag. In particular, I would like to take information only regarding to the tag, avoiding reference to a global frame. I'm (still..) ...
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What is Warn and Error about Rotate recovery?

After planning, ROS outputs a warn and an error on a terminal. [WARN] [1403639144.542396993]: Rotate recovery behavior started. [ERROR] [1403639144.542945771]: Rotate recovery can't rotate in place ...
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How to migrate from rosbuild to catkin

I'm a beginner about a migration. If you are familiar with migration from rosbuild to catkin, Could you teach me how to migrate from rosbuild to catkin. This is an example of eband_local_planner. I ...
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Navigation stack, local_planner and odometry: covariance all zeros ok?

Hello, We're just getting started tuning the navigation stack for this robot. We're publishing odometry as described here, and so far, so good. I'm confused about something though: in the code, we're ...
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Hydro move_base/tf2 extrapolation error into the future errror

Hi All, We are using Hyrdo's move_base and we continue to get an extrapolation error into the future. I believe this is causing our robot to stop and start during a traverse. In looking the ROS source ...
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STUCK at Turning!!!!!! Navigation help!

please help guys. Please refer to the picture. As you can see, whenever the robot is turning, it will stuck at the corner. It just stays at there instead of performing recovery plan, back up, etc. ...
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Local planner creation

Hi, I developed a local planner which implements the vfh algorithm and substituted it in the navigation stack. But I get this error: [FATAL] [1366724467.565835509, 463.545000000]: Failed to create ...
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Dynamic Window Approach(dwa) parameter should be false ? true?

Hi, I'm using nav stack with both of my robot and turtlebot. I have a question about dwa parameter. Can I set it false ? Without DWA, the robot moves fast(it's natural) and smoothly, and can avoid ...
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Implementation of VFH in ROS

Hello, I would like to know, is there the implementation of the Vector Field Histogram(VFH) method for 2D mobile robot navigation in ROS? I know ROS has implemented the Dynamic Window Approach(DWA) in ...
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