ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

When you click on "2D Nav Goal" in rviz you are actually publishing your goal on the topic /move_base_simple/goal. So if you just want to drive around you can publish some random goals on this topic. Another approach could be to navigate the robot according to a defined behavior such as wall following/avoiding.

About the 2D_costmap, it will be used by your local_planner to check if the robot can actually go to your goal and in order to avoid the different obstacles (I would also suggest you to check the social navigation layer to navigate with people walking around it should match your application).

When you click on "2D Nav Goal" in rviz you are actually publishing your goal on the topic /move_base_simple/goal. /move_base_simple/goal. So if you just want to drive around you can publish some random goals on this topic. Another approach could be to navigate the robot according to a defined behavior such as wall following/avoiding.

About the 2D_costmap, it will be used by your local_planner to check if the robot can actually go to your goal and in order to avoid the different obstacles (I would also suggest you to check the social navigation layer to navigate with people walking around it should match your application).