Is it possible to navigate and build map at the same time?
Hello~ all I'm a starter to learn ROS. Now I focus on Navigation and map generation.
We know that autonomous navigation procedure is : Load map files(yaml & PGM files) => Localization(amcl) => User assigns the goal => Plan an ideal route (global planner+costmap) => obstacle avoidance (Local Planner+costmap) => Reached!!
It means we have to build a map beforehand, then we can do autonomous navigation. I'd like to know... (1) Is it possible to immediately update map if robot found a new obstacle not showed on the static map?
(2)is it possible to do autonomous navigation and build map at the same time. I mean...generate a small part of map and keep updating it to RObot for navigation?
I searched the forum and found the related article as follows, seems not available my request. http://answers.ros.org/question/37486...
Does anyone know about it? It would be better to give me some idea or suggestion.
Thanks