ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
If you run jackal, look at rqt
node introspection to find out (visually) what topics are coming out of jackal. Basically just play plug and play. Off the top of my head i know an input topic would be "cmd_vel" and the odometry output topic would be "odometry/filtered" since they are running a instance of robot_localization. Then you can just simply follow the Nav stack tutorial http://wiki.ros.org/navigation/Tutorials and setup all the topics correctly. And when you add a observation source in the common costmap configurations, just put the laser topic coming out of gazebo.