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1 vote
Accepted

Increasing re-planning frequency of Nav2 global planner

Its in the behavior tree XML. The BT is where the navigation behavior is defined and customizable. The current default has a RateController over the planner to limit it to a fixed rate (1 hz), though ...
Steve Macenski's user avatar
1 vote

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

I think you are confused about the coordinate system that is being used. Please read http://wiki.ros.org/costmap_2d, particularly sections 7 and 8.1.4. Assuming your global costmap is initialized in ...
Mike973's user avatar
  • 946
1 vote
Accepted

Local Planner Not Extending Beyond Robot's Footprint Boundaries to Distort Global Planner's Path

After extensive debugging and parameter tuning, I identified the root cause of the issue and made significant improvements to the robot's path planning and obstacle avoidance behavior. Turning Radius: ...
Marcus Vinicius's user avatar

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