move_base and hector_slam
hi , i am working on a mobile robot with ROS , and i want to have navigation ability without any odometry data from my motors . hector_slam is run very good and i have no problem with it , i can get pos and yaw of my robot with a hokuyo laser sensor . the map is published to /map topic .
for navigation and planning i want to use the move_base without map_server and AMCL . i dont have any odom topic .
what is the launch file for do this exactly? what is the param config for move_base , because there is no update for costmaps from rviz ?! ... i seems its not get my /map topic for calculations... ? ( global_cost_map is STATIC , local_cost_map is not STATIC and windowing is enabled !? .
1 ) how can i send /map to move_base ? 2 ) why we need odom tf ( odom => base_link ) ? 3 ) is odom topic necessary for move_base? 4 ) what is paramers config for move_base for dynamic SLAM navigation ? 5 ) what is a launch file for this to get worked ?
thx for any reply :) .... i just confused a bit :( .
What version of ROS are you using? Can you post what configuration you're already using?