Autonomy problem with hector_gmapping
Hi, i am new in ROS, so i am sorry for possible stupid questions.
I try my robot (platform on caterpillars) to explore the unknown location offline. I use hector-slam (version of ROS - Indigo).
I think, i need in hector_exploration-planner
(to get trajectory for exploration) and hector_exploration_controller
(to send velocity to car).
I launch hector exploration node and controller. It generate exploration path with some poses, find frontiers. And, if i understand correctly, i should subsribe exploration_controller
to topic /exploration_path
by exploration_node
and send cmd_vel to car?
How can i do the second?
Thank for any help.
Asked by flaminga on 2015-07-04 04:10:03 UTC
Comments
I did a node, subscribed to /cmd_vel. But now car move only backward. In cmd_vel topic only the same messages: linear x:0.1 and angular z:1.4
Asked by flaminga on 2015-07-04 06:49:59 UTC