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How to navigate without localization

asked 2015-01-27 01:11:20 -0500

sc071139 gravatar image

updated 2015-01-27 02:19:38 -0500

We're using turtlebot_gazebo now and every time we navigate, it uses amcl. However, in our task,robot just needs to avoid the obstacles and follow the target person in a small range of view. In short, we want to modify or some way to navigate without localization. I suspect it is sth related to the tf and move_base but not quite clear what to do. Can it be easily fulfilled? What should we do? Many Thanks!

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answered 2015-01-27 06:43:15 -0500

If you want to navigate without localisation, then disable your localisation node and publish a static transform between your /map and /odom frame. Amcl or some other localisation will usually provide this transform. This means that your robot will now only be as accurate as its odometry.

The global planner and local planner should still work in move base in the default costmap frame_id of /map.

You could alternatively try changing the costmap frame id to /odom which may achieve the same thing but I haven't tried this myself.

cheers

Peter

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answered 2015-01-27 07:08:05 -0500

Erwan R. gravatar image

In addition to Peter's answer, you can also write a reactive controller driven directly by a twist message on the cmd_val topic (see http://answers.ros.org/question/33545... ). This implies computing movement speed from target in the field of view, computing a repulsive obstacle avoidance from depth pointcloud and summing them to get an egocentric speed. I think it requires more work than use map information but may be more low-level and simpler than using a full navigation stack.

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Asked: 2015-01-27 01:11:20 -0500

Seen: 834 times

Last updated: Jan 27 '15