Hello,

Another question, I noticed that the robot tries to make a 180 degree change in orientation when it reaches the goal destination.

For example, as it reaches the goal destination, it'll turn around and back in to the goal point. Instead of facing towards the direction of the goal point, the heading angle changes to face where the robot's initial pose is.

Do you know how I can change this so that it doesn't make this 180 degree change at the goal destination?

Thanks,
Aaron

Hi, I'm trying to use this package for simulation..

1. Is this package required cost map such as 2d gridmap?
2. I typed

in my steer_bot_sim.lauch file, but it does not work.

May I ask for a help?

When I use this program, I can follow the route point I determined to run, but the flaw is that there are the following problems:

1. How to modify the direction angle of the last target point?
2. How to save the marked points so that they can be used directly next time instead of re-calibration every time.
3. For example, if I control the robot to a certain point, how do I record the point and publish it to the global planner?

Hello, does this work with ROS melodic?

/move_base/waypoint_global_planner/0
Uninitialized quaternion, assuming identity. I am having this warning when given waypoints for the robot. The robot is not able to reach the goal and gets stuck on the way to the goal without any obstacle in front of it.

Hello, I compiled and installed the package on the ros melodic version, but when I run, if there is an obstacle in the middle of the path, the path planning of the robot will return to the original position?
The dwa used by my current local algorithm should be able to bypass the obstacle and continue to track the global path when it encounters an obstacle, but it is actually not possible, as shown in the following figure:

I don't know where the problem is, I look forward to your reply

hi , when i use "published point" to set a several point ,the "waypoint-globla-planner" could get a plan followed my point. However, the robot go to final goal directly without folloing the path.

here is my yaml and launch file related "waypoint-global-planner".please ignore the chinese comment.

base_global_planner_params.yaml:
`
base_global_planner: "waypoint_global_planner/WaypointGlobalPlanner"
planner_frequency: 0.0
planner_patience: 1.0

WaypointGlobalPlanner:
epsilon: 1e-1 # distance threshold for final waypoint
waypoints_per_meter: 20 # number of waypoints per meter for the interpolation of the path
`

move_base_params.yaml:
shutdown_costmaps: false controller_frequency: 5.0 controller_patience: 5.0 planner_patience: 5.0 planner_frequency: 5.0 recovery_behavior_enabled: true conservative_reset_dist: 3.0 oscillation_timeout: 0.0 oscillation_distance: 0.5 max_planning_retries: 3 base_local_planner: "base_local_planner/TrajectoryPlannerROS" base_global_planner: "waypoint_global_planner/WaypointGlobalPlanner"

move_base.launch

`

<rosparam file="$(find my_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="global_costmap" />

<rosparam file="$(find my_navigation)/config/mbot/costmap_common_params.yaml" command="load" ns="local_costmap" />

<rosparam file="$(find my_navigation)/config/mbot/local_costmap_params.yaml" command="load" />

<rosparam file="$(find my_navigation)/config/mbot/move_base_params.yaml" command="load" />

<rosparam file="$(find my_navigation)/config/mbot/base_global_planner_params.yaml" command="load" />
    
<rosparam file="$(find my_navigation)/config/mbot/move_base_local_Traj_params.yaml" command="load" />    

`

what should i do to fix this?

im using ubuntu14.04 with ros indigo.

with regards

Hi ,
I clone the package to my workspace and added
<rosparam file="$(find waypoint_global_planner)/config/base_global_planner_params.yaml" command="load"/>
to my move_base launch file

and made the waypoint_global_planner.cpp file executable

but when I ran
rosrun waypoint_global_planner waypoint_global_planner.cpp

it shows me the following error

/home/npd-agv/catkin_ws/src/waypoint-global-planner/src/waypoint_global_planner.cpp: line 6: syntax error near unexpected token `waypoint_global_planner::WaypointGlobalPlanner,'
/home/npd-agv/catkin_ws/src/waypoint-global-planner/src/waypoint_global_planner.cpp: line 6: `PLUGINLIB_EXPORT_CLASS(waypoint_global_planner::WaypointGlobalPlanner, nav_core::BaseGlobalPlanner)'

What should I change in the .cpp file??
Help me to solve out.

Regards,
Arunkumar

hello,

could you provide some instructions on how to implement your planner as the global planner?

I am using the husky navigation stack

I added the following to the move_base launch file

<param name="base_global_planner" value="waypoint_global_planner/WaypointGlobalPlanne" />

<rosparam file="$(find waypoint_global_planner)/config/base_global_planner_params.yaml" command="load"/>

When I launch the launch file however, i get the following error:

[FATAL] [1528930206.441060089, 162.174000000]: Failed to create the waypoint_global_planner/WaypointGlobalPlanne planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class waypoint_global_planner/WaypointGlobalPlanne with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are carrot_planner/CarrotPlanner global_planner/GlobalPlanner navfn/NavfnROS waypoint_global_planner/WaypointGlobalPlanner

I believe I am not implementing your global planner right, any instruction would be appreciated.

Thank you