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move_base node without actual robot?

asked 2016-06-28 06:56:00 -0500

bsk gravatar image

updated 2016-06-28 06:56:17 -0500


since i have only laser scanner and trying to show obstacles in a built map via hector_slam/gmapping.

first i tried to use costmap_2d only but i have some problems in there ( my previous question about it ) , and this too so at the same time i want to try move_base launch to see costmap in it with help of amcl...

is this possible to use move_base without having an actual robot?

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answered 2016-06-28 07:15:22 -0500

dornhege gravatar image

Yes, it will just send motion commands into nothing, and then probably go into some failures, etc. when nothing moves, so it's a bit pointless. If you are interested only in the costmap, you can just can a costmap ROS instance.

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cuz of my trial in costmap_2d only has some problems (link in the question) so i think maybe amcl can solve my problem. if the failures are just about move goal or sth like that its ok for me. i just want to manage to see some costmap succesfully

bsk gravatar image bsk  ( 2016-06-28 07:31:47 -0500 )edit

For the costmap, just a CostMap instance is sufficient. Complete move_base should also work and fail to execute, etc.. This makes mostly sense as preparation if you plan to execute something at some point in time.

dornhege gravatar image dornhege  ( 2016-06-29 08:44:55 -0500 )edit

just want to see obstacles so yes costmap is the only thing i need but, didnt manage it :/ cuz static map from mapserver and costmap itself isnt match (i think its because lack of localization) anyway thanks, i'm trying the both (costmap only and move_base) i hope i can solve that unmatching problem

bsk gravatar image bsk  ( 2016-06-29 10:08:59 -0500 )edit

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Asked: 2016-06-28 06:56:00 -0500

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Last updated: Jun 28 '16