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So we got to solve this problem by changing the serviceName in the file RobotNavigator.cpp to "dynamic_map" because we are using gmapping and not the default mapper of the package. Thank you for your answer. We have now faced another problem with the robot. The exploration starts but then the robot sometimes just stops and keeps spinning around itself. Also it keeps spinning in circles and it seems like it wants to got to the beginning of the pink path. Videos of our run are uploaded here and here and here It would be appreciated if you could take a look at them and help us.