How to use an image in move_base to create a map in RVIZ
I would like to use the path planning capability of movebase to plot a path through a map that I initialize from an image I created of a white background with black circles on it (I was unable to attach the image not enough points) using this command: rosrun mapserver map.png map.yaml I know the map server then publishes an initial map based off of my image, but I am having trouble getting move_base to plot an actual course. I would like to display the plotted course in rviz.
Asked by Mark Borg on 2018-02-06 05:07:15 UTC
Answers
The problem I was experiencing was that I had not set up the obstacles_layer correctly. The correction is shown as:
obstacles_layer:
observation_sources: scanMap
scanMap: {sensor_frame: laser, data_type: LaserScan, topic: scan, marking: true, clearing: false}
Asked by Mark Borg on 2018-09-26 13:12:45 UTC
Comments
Please Elaborate on the steps you did to command a Goal, as well as adding the expected Input and the Output you saw...
Asked by mgruhler on 2018-02-06 09:09:01 UTC
In RVIZ the map is displayed and the Pioneer 3dx robot is sitting on the map. I can click on 2D goal and it allows me to place a goal (arrow) on the map. But the robot does not move to that goal. There are no errors. The Pioneer moves with rqt_gui and that movement is reflected in RVIZ
Asked by Mark Borg on 2018-02-06 09:42:04 UTC