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jackal gazebo navigation example

asked 2015-04-05 20:46:32 -0500

oscillative gravatar image

updated 2015-04-06 03:20:28 -0500

Thanks to jackal gazebo tutorial I was able to run it without any issue, and control the robot's twist using interactive markers.

I'm in the process of building a simple robot with XV-11 lidar and iRobot create as its mobile base. Before I get all that up and running - I like to learn about navigation stack and would like to run it completely in gazebo.

What would be a simplest setup for me to run Jackal with navigation stack in gazebo?

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answered 2015-04-06 07:24:11 -0500

l0g1x gravatar image

If you run jackal, look at rqt node introspection to find out (visually) what topics are coming out of jackal. Basically just play plug and play. Off the top of my head i know an input topic would be "cmd_vel" and the odometry output topic would be "odometry/filtered" since they are running a instance of robot_localization. Then you can just simply follow the Nav stack tutorial http://wiki.ros.org/navigation/Tutorials and setup all the topics correctly. And when you add a observation source in the common costmap configurations, just put the laser topic coming out of gazebo.

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Asked: 2015-04-05 20:46:32 -0500

Seen: 424 times

Last updated: Apr 06 '15