Questions tagged [planner]

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How to use Planner Selector in the Nav2 BT's xml file

I want to use the PlannerSelector action in Nav2 in order to use multiple planners and choose which one to use in the runtime. I modified the default behavior tree xml a little bit in order to do this,...
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Sending goal without executing plan

I am using ROS Noetic and I want create a script that defines an end position but I only want to retrieve the plan-intermediate-points and save them as a list in an array. I wrote a python file that ...
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Nav2 Behaviour Tree dies with custom planner (ROSIDLCPP_StringValueType error)

I am using Nav2 to build a custom planner based on a path of GPS coordinates which are transformed into cartesian coordinates. When I start the navigation stack and send my GPS points via a service ...
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Can TEB or Other Local Planners Work Without move_base?

I am working on path planning and path tracking for a while and I wonder, can TEB local planner (or any other local planner on ROS, DWA lets say) function without move_base? I mean do I have to use ...
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What are the initial stages of autonomous robot mission planning from the perspective of a software engineer?

Assume I am recruited by a startup company whose mission is to develop autonomous vehicles. Teams of individuals are working on various aspects of its autonomy, such as situational awareness, control, ...
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Routing through obstacles behind the robot

I encountered a problem with my robot in the planner algorithm I used in my project. The problem is as follows: My robot is 1 meter long. My robot has realsense camera and lidar. With the camera data ...
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[Nav2] Suggestions around single plan - controller only reactive navigation

Hi! Reading through some notes and material around nav2 I found a couple of mentions to a navigation setup often referred to as “reactive navigation”, which takes out continuous re-planning from the ...
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ROS2 plan a trajectory without mapping (without lidar)

Hello, first of all, for a little bit of context, i'm using ros2 foxy with ubuntu 20.04 and gazebo 11. I'm still learning how everything works together so, if i'm saying something wrong, i would ...
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How to use planners in Moveit?

Hi Community, i'm a newbie of ROS and i'm working on a project in which i have to control a robot Yumi of ABB (IRB 14000), searching in the web i found the ROS packages for the Yumi link. After ...
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Make global plan that includes obstacles from local costmap

Hi, I have a navigation setup for a mobile robot. Local and global costmaps are running and navigation is working, however I would like to have the global planner replan when it sees obstacles in the ...
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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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Smooth movement in MoveIt! and ROS

Hi everyone, I'm developing an application with an UR10 robot. I want the robot to follow a row of points without stopping when it reaches each of these points. I've made a little research and you can ...
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How to change a planner's timeout?

I'm trying to change the planner's timeout from the default value. I've looked in the config yaml files, launch files etc, searched online, but couldn't find anything, does anyone have any ideas? &...
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STOMP planner: Can only handle joint space goals

I'm trying to use STOMP with this tutorial. I want to plan a path with STOMP using a relative command for the endeffector. I'm trying to execute the following command to achieve this: go x 0.5 I ...
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ROS navigation can't rotate 180°

hi , i'm getting some trouble with the dwa_local planner it's seems that my robot can follow path and avoid obstacle but when i choose a goal that makes the robot turn in the oposite direction it ...
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Teb Local Planner : Increasing x linear velocity

Hi, I'm currently using the teb local planner for a tricycle robot and it gives good results but I would like to i Increasing the max_vel_x parameter doesn't seem to change the speed and I am having a ...
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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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How to switch the planner of move_base during the navigation

Hi, all, We want to implement a function in move_base to switch the planners as this question mentioned. To do this ,I have studied the source code of move base, specifically the constructor of ...
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Are there 3D path planner algorithms in ROS?

Are there packages in ROS, which make 3D path planner algorithms for mobile (track) robot, without using 2D maps and 2D navigation? Originally posted by baltic on ROS Answers with karma: 35 on 2017-...
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Global frame of local costmap and goal accuracy

Hi all, I'm confused about global frame of local costmap. I'm trying with sbpl and pose follower. Since I want to follow the global plan as close as possible, I tried to change global frame of local ...
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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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Change Planner in MoveIt Python

Hey guys, i want to change the default motion planner from OMPL in MoveIt to "PRMkConfigDefault". But how can i change for example the planner for planning my group: ...
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How to get laser data in gazebo?

Hi everyone I have created my diff drive robot and also mounted laser on the robot using Hokuyo model. Now I need to move my robot from start position to the goal position. I can't understand how to ...
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1 answer
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How to set the parameter of the global planner in navigation stack

Dear all, The global planner pkg provides few algorithms like A*, grid path and etc. My question is how I can set these methods? For example, for grid path method I need to set global planner ...
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Global planner path update faster

how do i make the global planner realize that its path is blocked by an obstacle and re-update faster ? Originally posted by rajnunes on ROS Answers with karma: 73 on 2016-06-09 Post score: 0
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Which local planner should i use for dynamic obstacles?

We are currently using teb_local_planner bit it doesn't work for dynamic obstacles in the bots path... in th cost map a dynamic obstacle is perceived as a wall ...i think . Is there any other local ...
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Holonomic planner for navigation

Hello ! I want to know how to have a holonomic planner for the navigation of a holonomic or omni-directional robot (KUKA Youbot for example). The Idea is to be able to move the robot along the y axis ...
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2 answers
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Navigating a robot using same path every time

Hello, I am not sure if I am clear here with my question. What I want to do is create a map with couple of obstacles in it and to make the robot drive around them, making an 8 shape. Something similar ...
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2 answers
45 views

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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1 answer
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teb local planner

Hi all, Following my other question link: here , I am now trying to install teb_local_planner on ROS Hydro from source. I am not sure on how to install packages from source so I have been following ...
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1 answer
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teb local planner installation

Hi all, I am trying to install and use the teb_local_planner in ROS hydro by following this tutorial http://wiki.ros.org/teb_local_planner/Tutorials/Setup%20and%20test%20Optimization However, I am ...
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Where can I find a tutorial to guide how to develop local planner for navi stack

Just as question. Is there any tutorial that guides how to develop local planner for navi stack? Originally posted by jihoonl on ROS Answers with karma: 634 on 2015-12-09 Post score: 0
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How to avoid "Invalid Trajectory (cost: -1.000000)" in DWA Local Planner?

Dear all, I am using DWA to drive a differential robot around. I am running Ubuntu 12.04 and ROS Hydro. In general, the robot navigates well. However, sometimes when I send it to tight spots, I ...
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1 answer
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Getting the joint values of a computed path to a pose goal

Hi everybody, I'm using moveit with an UR5. The planner I use is the RRTConnectkConfigDefault-planner. The goal for the planner is a pose. My question is now: Is there a way to retrieve the joint ...
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1 answer
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How to improve the speed of dwa in base_local_planner?

I am using base_local_planer as local planner. However, with same parameters, the speed of robot from Dynamic Window Approach(DWA) is smaller than with Trajectory Rollout(TR). The "max_vel_x&...
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Can social_navigation_layer be used in local avoidance by DWA?

I am trying to use social costmap in my project . Unlike the examples showed in people where a person is detected by 2D laser scan, a simulated topic /tracked_persons about the pose of people is sent ...
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1 answer
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how to double the resolution of the map?

Hello, i did the SLAM Map Building with TurtleBot,got a map( width :576,height:512) and a yaml file that goes with my pgm map. Its resolution is 0.05,but the SBPL Lattice planner has a map ...
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Does ROS support this scenario off-the-shelf?

I'm building a mobile robot which is going to search for and collect small items in easily traversable environment with approximate map known beforehand. Robot will be equipped with a simple 2 DOF ...
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2 answers
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Adding a New Local Planner in Navigation

Hello, I am trying to add a new local planner as a plugin to the navigation stack. I followed the guide here to do this and everything compiles fine, and the new plugin is available by ...
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1 answer
18 views

Which topic should I publish path to?

Hi guys, I am trying to implement a global path planner to Turtlebot 2 using ROS navigation. Now I can get the initial position, goal position and map data these three for path planning. And I am ...
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1 answer
23 views

Navigation: Resolution of Global Costmap

Hi, When I set the resolution parameter in global_costmap_params.yaml to different values (for instance ...
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1 answer
19 views

Waypoint Navigation: Simplified Local Planner

Hello, I was wondering if anyone has written such a behaviour for a robot navigation or any hint on how to implement it. 1- The robot gets the waypoints from the global planner 2- Starting from the ...
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1 answer
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Navigation: Distance between Waypoints in Global Path

Hello, I was wondering how the distance between the waypoints is determined in the global planner, and is it possible to increase this distance (i.e. decrease the number of waypoints) on the global ...
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1 answer
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Global Planner Parameters in Navigation

Hello, I was wondering what the parameters below are exactly doing in the global planner (Reference Tutorial). The description is not very clear to me. I tried different values for the parameters in ...
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2 answers
20 views

moving mobile robot in zigzag way

Hello, I want to move the husky robot using a code that publishes the command velocities. the movement should be like zigzag. here is the code that I am trying but it is not working.. I did not knew ...
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1 answer
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why some empty areas are with high cost in costmap?

Hi, all ,I am using turtlebot2( i.e. kobuki) to test my local planner. The global_planner being used is the default navfn of move_base node (i.e. navfn). But some strange path planning happen due to ...
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2 answers
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Virtual Corridor for Robot Navigation, Updating CostMap

Hello, I'm asking this question again, in case there were some new thoughts from the ROS community I'm trying to add a "virtual" corridor along the waypoints generated by the global planner (...
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Is kobuki a holonomic robot?

Hi, all, I am writing a local planner for turtelbot2, i.e. kobuki robot. But I am not sure is it a holonomic robot. From the wikipedia I think kobuki is a holonomic robot, isn't it. Thank you! ...
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3 answers
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Changing Parameters of Local Planner, ROS Navigation

The tutorial says: http://wiki.ros.org/base_local_planner "There are a large number of ROS Parameters that can be set to customize the behavior of the base_local_planner::TrajectoryPlannerROS ...
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ROS Navigation: Global and Local Planner

Hello, Is there a way to modify the local planner so that the robot would always move within a certain distance of the Global Path. And in this case, if an obstacle appeared on the map and covered the ...
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