waypoint-global-planner

A global planner that generates a path using manually inserted waypoints without taking into consideration obstacles in the global costmap.

Usage

• See configuration example in config to be loaded in the namespace of move_base
• For easier usage deselect single click from rviz (Panels > Tool Properties > Publish Point > Single Click)
• From the toolbar select the Publish Point tool
• Start inserting waypoints
• To generate the path insert the final waypoint close to the latest one with a distance not exceeding the threshold ε (default 0.1m)
• The final goal pose is determined from the orientation of the line connecting the two final waypoints