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I want to create an autonomous robot, i start with installing ROS indigo on ubuntu, and i arrived to create a map manually with hector slam and teleop keyboard (i use arduino mega and motors with encoders). Now i want to launch a file for autonomous navigation on unknown map, what can i do please? i already saw hector navigation but i don't understand how it works
In the Hector Navigation Stack there is also a hector_exploration_node and a hector_exploration controller. The hector_exploration controller will publish twist messages on the cmd_vel topic. These values will give you a velocity x and an angular z.
If you are using arduino, in the arduino code you need to subscribe to the cmd_vel topic, and then manipulate the values there.
If you want to test and see if you publish values on cmd_vel, run your laser scanner and hector slam and then run
roslaunch hector_exploration node exploration_planner.launch
and
rosrun hector_exploration_controller simple_exploration_controller
then you need to listen to the topic
rostopic echo cmd_vel
After that you should see a stream of values. Mine comes out in bursts. Hope this helps.
Hello friend could u please help me out that after generating map with gmapping in rviz how can i do path planning. I have download the map.pgm from rviz but now i dont get how start path planning and how to link with map. Please help me.
Thanks
Asked: 2016-07-21 05:10:17 -0600
Seen: 1,354 times
Last updated: Jul 21 '16
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