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navigation without a map?

asked 2011-09-20 03:20:54 -0500

gertr gravatar image

updated 2011-09-20 05:56:56 -0500


I am trying to implement the navigation stack on a custom robot without a priori static map.

Can anyone give me a guideline to do this?

I have set the static_map field to false in the Global Costmap Configuration file.

If I understand the tutorial correctly, I have to include a map node in my launch file, but I don't have one...

I am new to ROS and would appreciate any help I can get :)

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I have tried to create an empty *.pgm file and pointing the launchfile to it, but this results in my map-server-1 process dying...
gertr gravatar image gertr  ( 2011-09-20 03:26:29 -0500 )edit

Do you also have the corresponding *.yaml ? (that might be the reason for it dying) But I want to know what is the use of having a separate map if it is empty ?

2ROS0 gravatar image 2ROS0  ( 2014-07-31 08:12:36 -0500 )edit

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answered 2011-09-20 05:55:13 -0500

A map is not necessary for running the navigation stack. All you need is a costmap, which can be created by costmap_2d. You can take a look at erratic_2dnav_local for an example configuration.

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Asked: 2011-09-20 03:20:54 -0500

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Last updated: Sep 20 '11