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Is there any package using which I can use to navigate, avoiding obstacles and using robot_localisation's pose estimate on an unknown map

asked 2016-06-17 10:06:37 -0600

Anirvan0102 gravatar image

updated 2016-06-17 10:07:50 -0600

Hello, I am new to ROS. I have a p3dx robot and I am using it for outdoor navigation. I am using robot_localization package for pose estimate and localization. I have target points in GPS co-ordinates and want a shortest path algorithm like a -star to be implemented.I have sonar sensor to detect obstacles. Is there any package using which I can navigate in an unknown map or area avoiding obstacles using the above data/configuration. I tried to analyze the Navigation stack but it requires cost map and other localization technique.

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The A-star algorithm and the navigation stack both depend on having a pre-built map. Without a pre-built map you will need to look at alternative algorithms for path planning.

ahendrix gravatar image ahendrix  ( 2016-06-17 14:27:26 -0600 )edit

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answered 2016-06-20 03:20:40 -0600

Sebastian Kasperski gravatar image

In nav2d is the nav2d_operator, which is a purely reactive obstacle avoidance node, that can work without a global map. It uses a local costmap_2d internally, so you should check how to update that from sonar instead of laser range data.

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Thanks Sebastian, I will try it out.

Anirvan0102 gravatar image Anirvan0102  ( 2016-06-20 06:18:56 -0600 )edit

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Asked: 2016-06-17 10:06:37 -0600

Seen: 413 times

Last updated: Jun 20 '16