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

How to navigate in my custom map?

asked 2013-11-17 19:33:19 -0600

ali ekber celik gravatar image

updated 2013-11-17 19:33:49 -0600


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


edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-11-17 19:55:25 -0600

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.

edit flag offensive delete link more


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

ali ekber celik gravatar image ali ekber celik  ( 2013-11-17 19:59:18 -0600 )edit

As I said, I suggest you to follow the Navigation Stack tutorials. You could run and study this tutorial ( to see how it uses and launches all the necessary nodes, and then try to apply it to your robot

Tirjen gravatar image Tirjen  ( 2013-11-17 20:25:12 -0600 )edit

Question Tools

1 follower


Asked: 2013-11-17 19:33:19 -0600

Seen: 721 times

Last updated: Nov 17 '13