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hector exploration with move base

asked 2013-11-11 21:20:44 -0500

BenMa gravatar image

Hi, there,

I am trying out hector exploration on my robot and I have a few questions regarding the configuration. I have used the explore package before and the result is ok. The hector exploration, on the other hand, appears better on paper (though not confirmed). My specific questions are:

In order to use hector exploration, another node need to call the service provided by the hector_exploration_node and feeds the provided goals to move_base. However, when I dig out the hector_exploration_node source code, I don't see a "goal" message published, instead it is the trajectory (hector navigation msg) message. How do I pass this trajectory msg to move base as a goal? Thanks a lot

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answered 2013-11-12 03:03:48 -0500

I concede that integration with move_base wasn´t a top priority with hector_exploration. There currently is no code to directly write out a generated target pose, but you can just take the last pose in the generated nav_msgs/Path message and forward that to move_base. The nice thing about the way hector_exploration works is that along with the generated exploration pose, it also produces a path to it. This is pretty hard to leverage with the way move_base works, however.

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Thanks Stefan. I also noticed that there is a hector_path_follower node in the package and it is used together with the navigation_experimental package. If I were to use these two, do I still need move_base?

BenMa gravatar imageBenMa ( 2013-11-12 18:00:51 -0500 )edit

No, in that case, the robot can explore the environment without using move_base at all. This is mainly for demonstration though and does not have some of the advanced features of move_base (like avoidance of dynamic obstacles).

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2013-11-12 21:02:36 -0500 )edit

Hello, I am to use the hector_exploration_node on ROS Hydro, with a Husky, but I don't succeed to compile the node and can't use it. Do you have any idea? Is it because of the ROS version? Thank you http://answers.ros.org/question/19547...

est_CEAR gravatar imageest_CEAR ( 2014-10-27 03:00:40 -0500 )edit
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answered 2013-11-20 04:09:58 -0500

Siegfried Gevatter gravatar image

I've submitted a really simple script implementing what Stefan suggested.

https://github.com/RainCT/hector_navigation/blob/master/hector_exploration_node/move_base_controller.py

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Nice ;) I´ll look into merging that back ...probably after the DRC Trials in December.

Stefan Kohlbrecher gravatar imageStefan Kohlbrecher ( 2013-11-21 02:46:39 -0500 )edit

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Asked: 2013-11-11 21:20:44 -0500

Seen: 1,672 times

Last updated: Nov 20 '13