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How to use via-points #59

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rvbabera opened this issue Jul 31, 2024 · 0 comments
Open

How to use via-points #59

rvbabera opened this issue Jul 31, 2024 · 0 comments

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@rvbabera
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Hi,
I want mpc_local_planner to follow plan a path through my custom via points but i am confused how i can do it i set objective/type to "minimum_time_via_points" and also set global_plan_viapoint_sep to 0 but now i don't know-

  1. how should i publish via points ?
  2. at what frequency i should publish them ?
  3. and when to publish them ?
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@rvbabera