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ROS navigation slam example

asked 2011-06-07 14:35:28 -0500

sam gravatar image

updated 2014-01-28 17:09:49 -0500

ngrennan gravatar image

Hi, Is there any navigation slam example(c,c++) with hokuyo node (only usb port,no serial port), with rviz(show map,and setting goal),map(not static map)?

If it also includes gazebo and pictures(laser range finder location,robot),tutorials will be great~

If it totally follows the navigation tutorials will be the best!

Thank you~

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answered 2011-06-08 07:03:55 -0500

D_mangus gravatar image

updated 2011-06-08 07:11:35 -0500

I had a look at this http://www.hessmer.org/blog/2011/04/24/using-the-ros-navigation-stack/ for a real robot to look at that was set up using the navigation stack. I have also got the Navigation stack working with the hokuyo_node and the SLAM package as well if you need more information Ill post more here like .launch files and the such. Dr. Hessmer's Blog is useful for understanding the navigation package as well as he provides all of his code, just make sure to check out the right revision. If you are not using an arduino then you will have to change how you get your odometery and tf for the odom, but other than that its pretty straight forward. I also had issues looking at the tutorials and doing the Nav stack, and this helped a lot. It does not however integrate gazebo. It does follow the navigation tutorials very well though.

Enjoy, -Drew

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answered 2011-06-07 20:26:06 -0500

dornhege gravatar image

I think, you're looking for this tutorial: Building a map in simulation

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Thank you for this information. Maybe I didn't say it clearly. What I want is not only the map in simulation,but also has full slam packages with laser range finder,tf,odom,rviz,mapping...etc.
sam gravatar imagesam ( 2011-06-08 02:16:04 -0500 )edit
Are you looking for real work or simulation? The tutorial uses the pr2 simulator that includes all those things. It's probably a good idea to do the other tutorials in that series. For a real robot, have a look at this: http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
dornhege gravatar imagedornhege ( 2011-06-08 03:02:49 -0500 )edit
I am looking for real robot example by using navigation tutorials you just give. Because I found more difficult on just following tutorials than find a full example made by tutorials or similar. Because tutorials doesn't contain gazebo, so if that example also has gazebo simulation will be great.
sam gravatar imagesam ( 2011-06-08 03:54:10 -0500 )edit
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answered 2012-05-06 22:31:44 -0500

EDV gravatar image

I use AVM Navigator for robot navigation and it works pretty well ;-)

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Asked: 2011-06-07 14:35:28 -0500

Seen: 2,130 times

Last updated: May 06 '12