autonomously localise robot at "starting" point
Hello,
I need a little clarification for the localisation methods for the following purpose:
- I want to autonomously localise my Turtlebot at the starting point (which could be anywhere in a room) then send some navigation goals for it to follow, then at the end i want my turtlebot to return to the same initial point which it had localised itself in the beginning, all without any user intervention.
my setup is a Turtlebot, Hokuyo Lidar, ROS indigo and without initial map (i'd want to create the map on the fly). as i am still learning ROS, im wondering what components can provide a solution for this task in order to localise the robot in the start and save the pose for later use?
UPDATE: with which functions
i could set and retrieve the initial pose?
Thanks a lot for the inputs.
Hello, I am trying to do the same thing. Could you help me out regarding the steps I must follow? Thank you!