Ros Navigation

hello, I want to combine robot_localization module and Ros Navigation module to work on my 4 wheels robot, is it possible?

how do i adapt the two modules?

As to navigation module, which is it start entry node ? amcl or robotposeekf ? can anybody instruct me on this puzzled question?

Thank you very much.

Asked by asimay_y on 2016-03-09 03:04:06 UTC

Comments

Or is there any good other alternative solutions? please give me some suggesion. Thank you all.

Asked by asimay_y on 2016-03-09 03:58:35 UTC

Edit your existing question - please don't answer it - unless of course you have the answer :)

Asked by MarkyMark2012 on 2016-03-09 04:37:31 UTC

Answers

Hi,

Suggest starting here - plenty of info - http://wiki.ros.org/navigation

Mark

Asked by MarkyMark2012 on 2016-03-09 04:36:11 UTC

Comments

Thank you, dear. but this is not my answer. I want to know some detail practical experience about this. I'm working on it now, but find a lot work to do to adapt them.

Asked by asimay_y on 2016-03-10 20:43:09 UTC

Yes, the short answer is that it is possible. The state estimation nodes in robot_localization can serve as a stand-in for robot_pose_ekf, which is one part of the ROS nav stack. You can fuse the pose from amcl with wheel encoder odometry and IMU data using the EKF or UKF in robot_localization.

Asked by Tom Moore on 2016-04-29 07:15:42 UTC