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Ros Navigation

asked 2016-03-09 02:04:06 -0500

asimay_y gravatar image

updated 2016-03-09 02:59:36 -0500

hello, I want to combine robot_localization module and Ros Navigation module to work on my 4 wheels robot, is it possible?

how do i adapt the two modules?

As to navigation module, which is it start entry node ? amcl or robot_pose_ekf ? can anybody instruct me on this puzzled question?

Thank you very much.

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Or is there any good other alternative solutions? please give me some suggesion. Thank you all.

asimay_y gravatar image asimay_y  ( 2016-03-09 02:58:35 -0500 )edit

Edit your existing question - please don't answer it - unless of course you have the answer :)

MarkyMark2012 gravatar image MarkyMark2012  ( 2016-03-09 03:37:31 -0500 )edit

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answered 2016-03-09 03:36:11 -0500

MarkyMark2012 gravatar image

Hi,

Suggest starting here - plenty of info - http://wiki.ros.org/navigation

Mark

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Thank you, dear. but this is not my answer. I want to know some detail practical experience about this. I'm working on it now, but find a lot work to do to adapt them.

asimay_y gravatar image asimay_y  ( 2016-03-10 19:43:09 -0500 )edit
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answered 2016-04-29 07:15:42 -0500

Tom Moore gravatar image

Yes, the short answer is that it is possible. The state estimation nodes in robot_localization can serve as a stand-in for robot_pose_ekf, which is one part of the ROS nav stack. You can fuse the pose from amcl with wheel encoder odometry and IMU data using the EKF or UKF in robot_localization.

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Asked: 2016-03-09 02:04:06 -0500

Seen: 143 times

Last updated: Apr 29 '16