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You could call the service-based interface to the global planner which would give you a series of poses through which the robot should go to get from point A to point B -- but the actual velocity commands are generated by the local planner, not the global one, and that planner is very much designed to run in real time on the robot.

If you have a good enough laser to create a map without any odometry, then perhaps you can also stay well localized within that map without odometry? Perhaps you can use something like the http://wiki.ros.org/laser_scan_matcher to create fake odometry from the laser data -- which might allow you to just use the navigation stack as is.