navigation without map?

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So this would mean running the navigation stack without gmapping or amcl? And that in this case the transform map->odom doesn't exist? So then in what frame should the robot be given goals to navigate to? odom?

I'm interested to this topic too. any news?

to @2ROS0 : That does not mean navigate without AMCL. You will need AMCL anyway (but not gmapping).

My question is that: I have a priori map and I want to use it thru navigation. Sould I use "static map: true and rolling_window: false" in both local and global costmaps?

@2ROS0 , i think when running navigation without static map ,it doesn't need AMCL(AMCL is meant for localization only (based on a known map) and will not work with a non-static map).If you set fixed frame is odom, the goal is given in odom ,maybe its localization error is big.

@2ROS0 ,when you set fixed frame is map,you need SLAM like gmapping to publish the tree from map to odom , i think its localization error is smaller.

@nightblue you're right - I figured that out, this thread is a bit outdated. As for your question - the normal trend is to use rolling_window: true for local costmap since by definition that map is used for collision checking with the immediate robot.