Comments (4)
Pro tip: you can add GIFs in your comments to show what's happening.
I think what is happening here is that your local planner sees two poses in the path, and does not "know" which one to pick first. You might want to interpolate the global plan first, before you follow it with a local planner, or configure your local planner such that it prioritizes points further along the path (if possible).
from full_coverage_path_planner.
Pro tip: you can add GIFs in your comments to show what's happening.
I think what is happening here is that your local planner sees two poses in the path, and does not "know" which one to pick first. You might want to interpolate the global plan first, before you follow it with a local planner, or configure your local planner such that it prioritizes points further along the path (if possible).
So should I give up the TEB planner and choose another planner
from full_coverage_path_planner.
I think the TEB planner is overkill in this context, as it is designed to a lot of the global planning for you too. I would use something like a DWA planner, or something even simpler to follow a path like this.
If you do want to use the TEB planner, I think it allows you to sample the global plan with "via points": global_plan_viapoint_sep
, and add a weight to the optimization such that its plan is pulled towards the via points. That should help with getting the TEB planner to work.
Disclaimer: I have never tried this combination myself. I'd love to hear if and how this works for you.
from full_coverage_path_planner.
I think the TEB planner is overkill in this context, as it is designed to a lot of the global planning for you too. I would use something like a DWA planner, or something even simpler to follow a path like this.
If you do want to use the TEB planner, I think it allows you to sample the global plan with "via points":
global_plan_viapoint_sep
, and add a weight to the optimization such that its plan is pulled towards the via points. That should help with getting the TEB planner to work.Disclaimer: I have never tried this combination myself. I'd love to hear if and how this works for you.
I tried to increase or decrease the proportion coefficient, via points, etc., but it still doesn't work, and I have a question. I will give it a target point, will this code eventually stop near the target point
from full_coverage_path_planner.
Related Issues (20)
- Perform full galactic review
- The last action goal to "get_path" has been REJECTED HOT 11
- Full Coverage Path planning HOT 1
- Foxy support HOT 1
- PID Tuning strategy HOT 2
- ROS2 Port Status HOT 1
- Global path keeps being replanned HOT 1
- How Can I Change Robot URDF? HOT 1
- Rotate the covered area HOT 1
- No coverage grid with ros noetic HOT 1
- Building on Humble with Colcon HOT 8
- 123 HOT 1
- 1234 HOT 3
- Unable to traverse all nodes HOT 10
- How to use full coverage path planner with `move_base` HOT 2
- plugin HOT 2
- global planner
- coverage_progress fails while launching test_full_coverage_path_planner.launch
- the topic msg of /cmd_vel is all wrong HOT 2
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