Documentation

[aarontan-git]

Hello,

I am new to ROS. Could you provide some instructions/documentations on how to implement this with move_base?

I'd like to know how to combine this with husky_navigation

My goal is to be able to set predefined paths (straight paths or curves) to be able to evaluate performances of local planners.

Thank you,
Aaron

[DaikiMaekawa]

Hi, @aarontan94
Sry, there is no such a document for you, but I'm gonna try to explain you how to achive your goal.

I quickly had a look at husky_navigation pkg. It looks like just using the default path planning plugins on move_base, so that the migration should be really straight forward.

As a first, you have to predefine waypoints into a yaml file with waypoints_saver node.

And then, waypoints_nav node supposes to playback these waypoints in runtime. Here is the launch file that describe how to run it.