Hi, I'm using the ros navigation stack for an exploration task.
I use NavFN as global planner and TrajectoryPlannerRos as local planner (DWA = true).
What I would like to do is the following:
-I send a goal through actionlib::SimpleActionClient (move_base_msgs::MoveBaseAction). This goal is characterized by a specific position and orientation.
-While the robot is moving toward the goal I would like to modify the desired goal orientation.
I tried to send a new goal with the same position but different orientation, the problem is that the robot plans again a new path which is tipically different from the original one.
I don't understand how to achieve my desired behaviour, which should not be so complicated since the global planner only computes a list of positions (without orientation) and once the robot has reached the goal one, the local planner aligns it with respect to the issued desired orientation.
Thank for your help.
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