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I suggest to read the navigation stack tutorial to more ducumentation on move_base's parameters used: http://wiki.ros.org/navigation/Tutorials/RobotSetup

openni_points is a PointCloud2 data_type, if you want to use a laser scan, it should be LaserScan data_type. See tutorial above.

Your setup is also similar to Turtlebot, you may look at this tutorial as well: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

cheers

I suggest to read the navigation stack tutorial to for more ducumentation on move_base's parameters used: http://wiki.ros.org/navigation/Tutorials/RobotSetup

openni_points is a PointCloud2 data_type, if you want to use a laser scan, it should be LaserScan data_type. See tutorial above.

Your setup is also similar to Turtlebot, you may look at this tutorial as well: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

cheers