Multiple 2D nav goal

angtzewern 2018-09-13 02:30:04 UTC #1

Is there any way to set multiple 2D nav goal and let it load in sequence?
from the husarion tutorial i can only set one 2d nav goal.

lukasz.mitka 2018-09-13 05:11:44 UTC #2

Hi angtzewern,

You could use follow_waypoints node to load a sequence of goals.
If that is not enough, you could build your own node with use of actionlib library. Here you can find tutorial explaining how to use actionlib to send navigation goals.

Regards
Łukasz

angtzewern 2018-09-20 10:29:45 UTC #3

Thank you for your guidance.
The above method seems to be working !

urahara94 2018-10-04 01:54:19 UTC #4

is there a way we can fix the sequence of goal and save it and load it every time?
like pressing a button to reload those sequence

lukasz.mitka 2018-10-05 09:45:22 UTC #5

Hi urahara94,

You could record a sequence of goals with rosbag and then play them every time you want to reload the sequence.

Regards,
Łukasz

urahara94 2018-10-05 10:08:11 UTC #6

does this still maintain the obstacle avoidance and lidar function on the husarion?
or will this just repeat what has been done in the previous sequence?
so far i tested the follow_waypoints and upon completion the waypoint disappears

lukasz.mitka 2018-10-05 10:13:02 UTC #7

This will maintain obstacle avoidance and other functions. Just remember to record and play only the waypoints topic.

urahara94 2018-10-12 03:46:43 UTC #8

i tried out recording and playing the waypoint topic and i dont seem to be able to publish the waypoint to the waypoint node
it can replay it tho
attach is the waypoint bag (i attach it as c but change it back to waypoint.bag since this page dont allow me to post .bag format

waypoint.c (8.2 KB)

**update i found the solution where the follow_waypoint is publish at /initialpose instead of /waypoint (this is just indication)