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ROS navigation without amcl / localization ?

asked 2014-08-14 15:39:51 -0500

2ROS0 gravatar image

updated 2014-08-14 15:53:00 -0500


Is it possible to run ROS navigation without amcl or any kind of localization? I still want to a static map that I built using gmapping, just don't want any localization.

Would that mean I should publish a zero transform from /map to /odom? My tree earlier was map -> odom -> base_link and amcl used to publish the transform from map to odom. EDIT: I did the above but I am unable to set the initial pose of the robot in the map using rviz.

Thank you.

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answered 2014-08-14 16:07:54 -0500

2ROS0 gravatar image

The solution was quite simple. You cannot set the initialpose using rviz since odom and map are the same now. So I reflected the initialpose into the static transform that I am publishing from map to odom.

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Asked: 2014-08-14 15:39:51 -0500

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Last updated: Aug 14 '14