Waypoints Global Planner
Abstract
Suppose the waypoints given for the predefined path in the form of YAML file or nav_msgs::Path message to track the path using any path tracking local planner, the global planner shall publish either the YAML or the nav_msgs::Path to make use of the Move Base plugin.
Waypoints global planner designed to publish the path from
- YAML file
- nav_msgs::Path buffer
Path Planning
Python path planner shall create waypoints based on user input points. Please refer "scripts" folder for more details.
How to compile
It is assumed that catkin workspace is available already to compile.
- cd catkin_ws/src
- git clone https://github.com/balamuruganky/waypoints_global_planner
- git submodule update --init --recursive
- cd ..
- catkin_make
Config
- planner_frequency: 0.0
- planner_patience: 1.0
- base_global_planner: "waypoints_global_planner/WaypointsGlobalPlanner"
- WaypointsGlobalPlanner:
- map_frame: "map"
How to Launch
Please refer the YAML file format here
Set the base_global_planner parameter in Move Base navigation stack and publish the path using either of the listed launch files
- roslaunch waypoints_global_planner desired_path_provider.launch
- roslaunch waypoints_global_planner yaml_file_path_provider.launch
Caveat
It is assumed that there are no obstracles present between start and the goal position and it is a static plan for path tracking robots.