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I believe as long as you set the 'holonomic robot' parameter to true, specify the footprint (size of your robot) of your vehicle properly, set the voxel grid parameter to true (assuming your robot is probably pretty high and you dont have to hit something from the ceiling) instead of just a 2D costmap so your LIDAR data is actually used, i believe you should not have a problem using the nav stack. You just have to make sure your velocity and acceleration values are correct/reasonable for the robot of your size.

Have a look at http://wiki.ros.org/costmap_2d as well as http://wiki.ros.org/base_local_planner

I believe as long as you set the 'holonomic robot' parameter to true, specify the footprint (size of your robot) of your vehicle properly, set the voxel grid parameter to true (assuming your robot is probably pretty high and you dont have want to hit something from the ceiling) instead of just a 2D costmap so your LIDAR data is actually used, i believe you should not have a problem using the nav stack. You just have to make sure your velocity and acceleration values are correct/reasonable for the robot of your size.

Have a look at http://wiki.ros.org/costmap_2d as well as http://wiki.ros.org/base_local_planner

I believe as long as you set the 'holonomic robot' parameter to true, specify the footprint (size of your robot) of your vehicle properly, set the voxel grid parameter to true (assuming your robot is probably pretty high and you dont want to hit something from the ceiling) instead of just a 2D costmap so your 3D LIDAR data is actually used, used for height information as well, i believe you should not have a problem using the nav stack. You just have to make sure your velocity and acceleration values are correct/reasonable for the robot of your size.

Have a look at http://wiki.ros.org/costmap_2d as well as http://wiki.ros.org/base_local_planner