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A global planner that generates a path using manually inserted waypoints. Compatible with move_base.

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gkouros/waypoint-global-planner

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waypoint-global-planner

A global planner that generates a path using manually inserted waypoints without taking into consideration obstacles in the global costmap.

Usage

  • See configuration example in config to be loaded in the namespace of move_base
  • For easier usage deselect single click from rviz (Panels > Tool Properties > Publish Point > Single Click)
  • From the toolbar select the Publish Point tool
  • Start inserting waypoints
  • To generate the path insert the final waypoint close to the latest one with a distance not exceeding the threshold ε (default 0.1m)
  • The final goal pose is determined from the orientation of the line connecting the two final waypoints

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A global planner that generates a path using manually inserted waypoints. Compatible with move_base.

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