GoToPosition Navigation Stack
Автор: Rangel Alvarado
Загружено: 2022-03-05
Просмотров: 58
Описание:
In this video i will demonstrate how to use the ROS1 navigation stack with services to call via a string [load position or initial position] to finally navigate to desired points using the DWA algorithm provided for Path Planning in ROS.
When the action is called you start to send a goal to the action /move_base/goal to send the location on the map and try to navigate.
You could use other paramenters to adjust the track, but i prefered low costs to the paths to make it follow circular. Constraints to the goal are with lower tolerance and it will try to adjuts very close to the desired goal without much tolerance.
Sourcecode at: https://github.com/issaiass/Mastercla...
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