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move_base and hector_slam

asked 2014-05-18 22:45:09 -0500

edwin gravatar image

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 :( .

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What version of ROS are you using? Can you post what configuration you're already using?

David Lu gravatar imageDavid Lu ( 2014-05-19 08:48:59 -0500 )edit

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answered 2014-05-24 06:40:21 -0500

edwin gravatar image

updated 2014-05-24 06:41:09 -0500

hi David , i am using hydro , i solved my problem by publishing a fake optometry data using hector_slam position . only the speed of robot is computed from robot encoders . now my robot can navigate and follow the trajectory path to rich the goal . i don't use static map ( map server and amcl ) so for both local and global parameters , i set the static parameter false and windowing is true .

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Asked: 2014-05-18 22:45:09 -0500

Seen: 637 times

Last updated: May 18 '14