[ros-users] Multiple waypoints in move_base

[Eric Perko]

Zac,

I wrote a node a while back to do exactly what Eitan described. A good
starting point to using it would be looking at the
'start_goal_planner_indoors.launch' file in
https://github.com/cwru-robotics/cwru-ros-pkg/tree/master/cwru_semi_stable/cwru_goal_planner
.
You specify the list of goals in a yaml file and then the
simple_goal_planner.py node executes them in the specified order. Looking at
that launch file should give you a good example of usage.

If you have any questions or problems with any of the code, let me know.

- Eric

On Fri, Dec 3, 2010 at 8:41 PM, Eitan Marder-Eppstein <
eitan at willowgarage.com> wrote:

> Zac,
>
> To my knowledge, this hasn't been done, but, as you said, it would be
> pretty simple to implement. You just write a node that queues up goals to
> send to move base and waits for each one to complete before sending the next
> one. Perhaps someone has done it without me hearing about it though.
>
> Hope all is well,
>
> Eitan
>
>
> On Fri, Dec 3, 2010 at 5:15 PM, zdydek <zac at mit.edu> wrote:
>
>>
>> Hi All,
>>
>> I'm looking to have a functionality where I can send a list of waypoints
>> and
>> have move_base execute them sequentially.
>>
>> From what I understand, the SimpleActionServer that handles goals like
>> move_base destinations is designed to have exactly 1 active goal, and new
>> goals preempt the execution of the active goal. I couldn't seem to find a
>> "MultiActionServer" anywhere (although I found one lead in mech_turk_ros,
>> it
>> didn't seem to lead anywhere...).
>>
>> I have some ideas of how I could implement this, but since it seems like a
>> pretty basic feature, I first wanted to see if any of you have done this
>> before.
>>
>> Thanks!
>>
>> -Zac
>> --
>> View this message in context:
>> http://ros-users.122217.n3.nabble.com/Multiple-waypoints-in-move-base-tp2015734p2015734.html
>> Sent from the ROS-Users mailing list archive at Nabble.com.
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>
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