Contents
Use
You can pass the waypoints and/or goal through a YAML file passed as parameter, or with RViz. For the later, you need to add the Publish Point tool (disable the Single Click option), included with RViz Hydro. Once running, the waypoints_navi node listen for these points and the 2D Nav Goal.
- To command the robot to go to a goal by passing through a series of waypoints, use the Publish Point tool to specify the points and then provide the final goal in the traditional way.
- To command the robot to constantly loop through a series of waypoints, use the Publish Point tool to specify the loop points and finish by clicking again on the first point.
- If you use the 2D Nav Goal while already moving, current goal/patrol will be cancelled.