romanrobotnik / robotnik_purepursuit_planner Goto Github PK

	if ( c2 <= c1 ) {
		//printf("kanban::DistP2S: c2 <= c1\n");
		di = Dist(current_position.x, current_position.y, s1.dX, s1.dY);
		Pb->dX = s1.dY;
		Pb->dY = s1.dY;
		return di;
	}

there Pb->dX = s1.dY; should be Pb->dX= s1.dX;

TerminalLog.txt

I tried pulling the robotnik_pp_planner node into my move_base launch file without hector and using Twist over Ackermann. It initially was throwing the error "map","odom", or "base_link" not found error. After that was resolved it kept saying they weren't part of the same tf tree, but ros showed they were. I added the listener.waitfortransform line, but it still goes straight into standby. I can't figure out how to implement this correctly into my code. I attached a picture of my launch file if it's needed, and a txt of my terminal output with these lines uncommented in the .cpp

ROS_INFO("purepursuit_planner::ControlThread(): InitState");
ROS_INFO("purepursuit_planner::ControlThread(): StandbyState");
ROS_INFO("purepursuit_planner::InitState: %d, %d, %d",bInitialized, bRunning, transform_ok);

Hi,

is it possible to set the interactive markers via a node and let the robot follow a plan, such like go to waypoint1, wait there for 5 seconds, then go to next waypoint?

Best regards.