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As you are using rtabmap, I would suggest that you take a look on this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot , in particular Section 6 to try it in simulation.

Basically, what you are looking for is the navigation stack, see all useful tutorials here: http://wiki.ros.org/navigation/Tutorials

As you are using rtabmap, I would suggest that you take a look on this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot , in particular Section 6 to try it in simulation.

Basically, what you are looking for is the navigation stack, see all useful tutorials here: http://wiki.ros.org/navigation/Tutorials