Hello,
I am not sure if I am clear here with my question. What I want to do is create a map with couple of obstacles in it and to make the robot drive around them, making an 8 shape. Something similar to the picture. Just imagine that in those 2 loops, there would be an obstacle. I am probably using wrong terms to find a similar example. I want the robot to be always driving that shape too (this is necessary for tests). Which tutorials could provide me with some samples?
Right now I am using teb_local_planner. One of the requirements for the robot is that it also has to localize itself while doing this.
Thank you!
**EDIT** So I have tried running samples of teb_local_planner following the Global Plan (Via-Points), however it didnt work for me.
I couldnt git clone the newest version of teb_local_planner because I already had it in my ~/catkin_ws directory (or at least I got git FATAL error), however I ran the rosdep install in the same folder and it didnt complain.
How do I know that it didnt work in the end? I could never see neither the global_plan_viapoint_sep parameter nor weight_viapoint when I ran the roslaunch teb_local_planner test_optim_node.launch. Heres proof:
https://www.dropbox.com/s/axq237aul1v1huu/Screenshot%202016-05-09%2020.11.06.png?dl=0
https://www.dropbox.com/s/l6x1a4cxgkg6wb7/Screenshot%202016-05-09%2020.11.01.png?dl=0
I tried setting it just in rqt config file, but to no avail.
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