Autonomy problem with hector_gmapping

asked 2015-07-04 04:10:03 -0500

flaminga gravatar image

updated 2015-07-04 07:55:39 -0500

Hi, i am new in ROS, so i am sorry for possible stupid questions. I try my robot (platform on caterpillars) to explore the unknown location offline. I use hector-slam (version of ROS - Indigo). I think, i need in hector_exploration-planner (to get trajectory for exploration) and hector_exploration_controller (to send velocity to car). I launch hector exploration node and controller. It generate exploration path with some poses, find frontiers. And, if i understand correctly, i should subsribe exploration_controller to topic /exploration_path by exploration_node and send cmd_vel to car? How can i do the second?

Thank for any help.

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I did a node, subscribed to /cmd_vel. But now car move only backward. In cmd_vel topic only the same messages: linear x:0.1 and angular z:1.4

flaminga gravatar image flaminga  ( 2015-07-04 06:49:59 -0500 )edit