Persistent waypoints

[void-robotics]

Hello,

The package is working great. I can move to a list of waypoints, and cancel all when needed.

Can there be a toggle feature that makes the waypoints persistent: when it reaches the last waypoint, it automatically goes to the first waypoint and keeps going?

Thanks,
Nathan

[danielsnider]

Hi Nathan, This is a great request. I'm very sorry that I don't have the time to develop it right now 😿.

…

On Thu, May 23, 2019 at 10:33 PM Nathan George ***@***.***> wrote: Hello, The package is working great. I can move to a list of waypoints, and cancel all when needed. Can there be a toggle feature that makes the waypoints persistent: when it reaches the last waypoint, it automatically goes to the first waypoint and keeps going? Thanks, Nathan — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#7?email_source=notifications&email_token=AANIGWFAUWNI3DSOGGMVU6DPW5HYPA5CNFSM4HPLWNX2YY3PNVWWK3TUL52HS4DFUVEXG43VMWVGG33NNVSW45C7NFSM4GVTGU3A>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AANIGWEKEPMTEZ5R3DWQOM3PW5HYPANCNFSM4HPLWNXQ> .

[void-robotics]

That's quite alright for both. I'll see what I can do.

[fayyazpocker]

To loop the waypoints, you can change the transition of the second state from PATH_COMPLETE back to FOLLOW_PATH itself. then the bot will loop the waypoints back from start again.
However, one issue i could find in waypoint navigation using multiple move_base goal is that the bot slows down in each waypoint. Eventhough adjusting yaw tolerance can prevent the bot in aligning in each waypoint, adjusting any other parameters does not make the robot move continously without slowing down in each waypoint. The only solution i think is to make a custom global planner, which makes a global path based on each waypoint. Can you think of any other solution ?

[void-robotics]

I created a controller on top of this package to manage continuous motion, and it seems to work fine.

[fayyazpocker]

Are you sending a new move base goal when the robot nears to the other goal, so that the robot moves in a uniform speed ? Anyways, I was able to make a custom global planner which inputs waypoints using publish points in RVIZ and publishes global plan to the goal through the points. So the robot do not stop at waypoints and it moves in a uniform speed towards the goal.

[void-robotics]

I do a similar thing; I subscribe to the list of waypoints and publish the next point when the previous one finishes.

[chrissunny94]

@nathangeorge1 Where can i find this version which publishes the next point before it finishes the previous one .

[chrissunny94]

@fayyazpocker , can you share the custom global planner which is able to send out consistent speed .

[void-robotics]

@chrissunny94 I'm creating it in www.newmindrobotics.com/install. There's a download link there to access the functionality, but it's under a license.

Also for the speed issue, like what fayyaz did, sending the point to a global planner will fix the speed issue.