Re: [ros-users] Motion planning using carrot planner

> I'm unable to get simple carrot planner code , for motion planning, up
> and running.
> The problem I'm trying to write code for is: to use carrot planner to
> move the  erratic gazebo robot from a start point to end point.
> Here are the problems I am facing:
> (1) I doubt if my design is correct, or if there's a simpler way to
> solve the above problem. Currently, I start erratic_wg.launch within
> simulator_gazebo. Next, I have a tf::listener instance running in a
> separate program, excerpts from which are given below. The listener
> uses the carrot planner while transforming from base_link to map:
> ===
> void transformPoint(const tf::TransformListener& listener)
> {
>          geometry_msgs::PointStamped laser_point;
>          laser_point.header.frame_id = "base_link";
>               ...
>             tf::TransformListener mytf(ros::Duration(10));

>          costmap_2d::Costmap2DROS costmap("my_costmap", mytf);
>          carrot_planner::CarrotPlanner cp  ;
>          cp.initialize("my_carrot_planner", &costmap);
>          try
>          {
>                  geometry_msgs::PointStamped base_point;
>                  listener.transformPoint("map", laser_point, base_point);

>                  geometry_msgs::PoseStamped start  ;
>                 start.pose.position.x = 0 , start.pose.position.y = 0,
> start.pose.position.z = 0;
>                 geometry_msgs::PoseStamped end;
>                 end.pose.position.x = 5 , end.pose.position.y = 5,
> end.pose.position.z = 0;

>                 std::vector<geometry_msgs::PoseStamped> plan;
>                 cp.makePlan(start, end, plan);
>                 // SHould I send a cmd_vel message now for each step
> of the plan?
>         }
> }
> ===