Christian,<div><br></div><div>One thing that I should have mentioned is that the pose_follower allows the robot to move backwards. It literally just tries to move from waypoint to waypoint along the global plan, so its important that you run it with a planner that specifies a meaningful orientation at each waypoint... navfn, for example, does not produce plans with this information, but something like the sbpl_lattice_planner would.  I wouldn't recommend using the pose_follower unless its in conjunction with a global planner that takes the robot's footprint into account.</div>
<div><br></div><div>If you're receiving the "Not legal" error that, at least in theory, means that something is blocking the robot from proceeding along the path.</div><div><br></div><div>Hope this helps,</div>
<div><br></div><div>Eitan</div><div><br><div class="gmail_quote">On Thu, Sep 9, 2010 at 5:12 AM, Christian Verbeek <span dir="ltr"><<a href="mailto:verbeek@servicerobotics.eu">verbeek@servicerobotics.eu</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex;"> Eitan,<br>
<br>
I compiled the pose_follower and loaded it instead of the<br>
base_local_planner. But still I am missing something. rviz does not show<br>
a global plan any more. The robot moves, but backwards and the log gives<br>
me the "Not legal" error from pose_follower.cpp line 169.<br>
<br>
My launch files look like this and I think by kicking out the<br>
base_local_planner I damaged something vital.<br>
<br>
************ move_base.launch<br>
<include file="$(find amcl)/examples/amcl_diff.launch" /><br>
<br>
<node pkg="move_base" type="move_base" respawn="false" name="move_base"<br>
output="screen"><br>
    <rosparam file="$(find<br>
f5_navigation)/config/costmap_common_params.yaml" command="load"<br>
ns="global_costmap" /><br>
    <rosparam file="$(find<br>
f5_navigation)/config/costmap_common_params.yaml" command="load"<br>
ns="local_costmap" /><br>
    <rosparam file="$(find<br>
f5_navigation)/config/local_costmap_params.yaml" command="load" /><br>
    <rosparam file="$(find<br>
f5_navigation)/config/global_costmap_params.yaml" command="load" /><br>
    <!--<rosparam file="$(find<br>
f5_navigation)/config/base_local_planner_params.yaml" command="load" />--><br>
    <rosparam file="$(find<br>
f5_navigation)/config/pose_follower_params.yaml" command="load" /><br>
  </node><br>
<br>
  <node name="map_server" pkg="map_server" type="map_server"<br>
args="$(find f5_robotinosim)/F5_Halle.yaml" respawn="false"<br>
output="screen" /><br>
<br>
***********pose_follower_params.yaml<br>
base_local_planner: pose_follower/PoseFollower<br>
<br>
PoseFollower:<br>
  max_vel_x: 0.4<br>
  min_vel_x: 0.05<br>
  max_rotational_vel: 0.4<br>
  min_in_place_rotational_vel: 0.15<br>
<br>
  acc_lim_th: 3.2<br>
  acc_lim_x: 2.5<br>
  acc_lim_y: 2.5<br>
<br>
  holonomic: false<br>
<div><div></div><div class="h5"><br>
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</div></div></blockquote></div><br></div>