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How to navigate in my custom map?

asked 2013-11-17 19:33:19 -0500

ali ekber celik gravatar image

updated 2013-11-17 19:33:49 -0500

Hi,

I have built a map using gmapping package and i got a map.yaml file.But how should i use rviz to estimate the inital pose and how can i move my robot on rviz?

I use ROS Hydro and Gazebo 1.9.1

Thanks.

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answered 2013-11-17 19:55:25 -0500

Tirjen gravatar image

I suggest you to take a look to the Navigation Stack. You have to load the map with a map_server node and then you have to run a localization node (like AMCL), then you can use the estimate pose 2D button on rviz to estimate your initial pose. To move your robot you will need a planner (like move_base) and send goals to this node.

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Thanks for your quick answer.But could you more explain how to use planner?Sorry i am new in ROS.

ali ekber celik gravatar imageali ekber celik ( 2013-11-17 19:59:18 -0500 )edit
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As I said, I suggest you to follow the Navigation Stack tutorials. You could run and study this tutorial (http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map) to see how it uses and launches all the necessary nodes, and then try to apply it to your robot

Tirjen gravatar imageTirjen ( 2013-11-17 20:25:12 -0500 )edit

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Asked: 2013-11-17 19:33:19 -0500

Seen: 241 times

Last updated: Nov 17 '13