vehicleCostmap planner straight line 90 degrees path

Hello, is there a way to modify the vehicleCostmap planner so that it gives me a path that only goes in a straight line and 90 degrees? I attatched a picture to show what I mean.

Answer 1

[Priyank Pandey]

Hi Jian,

I understand you want to use vehicleCostmap planner and achieve a straight line path.

Please refer to the following document to know how to use vehicleCostmap:

Costmap representing planning space around vehicle - MATLAB (mathworks.com)

I hope this helps

Regards

Priyank

[JIAN-HONG YE ZHU]

I went through that page before, but I could not find any setting that controls path orientation, unless I have missed it.