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autonomous navigation

asked 2016-07-21 05:10:17 -0500

Emilien gravatar image

updated 2016-07-21 05:14:25 -0500

I want to create an autonomous robot, i start with installing ROS indigo on ubuntu, and i arrived to create a map manually with hector slam and teleop keyboard (i use arduino mega and motors with encoders). Now i want to launch a file for autonomous navigation on unknown map, what can i do please? i already saw hector navigation but i don't understand how it works

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answered 2016-07-21 12:03:27 -0500

RoSPlebb gravatar image

In the Hector Navigation Stack there is also a hector_exploration_node and a hector_exploration controller. The hector_exploration controller will publish twist messages on the cmd_vel topic. These values will give you a velocity x and an angular z.

If you are using arduino, in the arduino code you need to subscribe to the cmd_vel topic, and then manipulate the values there.

If you want to test and see if you publish values on cmd_vel, run your laser scanner and hector slam and then run

roslaunch hector_exploration node exploration_planner.launch

and

rosrun hector_exploration_controller simple_exploration_controller

then you need to listen to the topic

rostopic echo cmd_vel

After that you should see a stream of values. Mine comes out in bursts. Hope this helps.

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i do this but i receive x=0 y=0 and z=1.4, and the motors don't stop,, it is not synchronised with hector slam. what can i do in this case please?

Emilien gravatar imageEmilien ( 2016-07-21 13:57:49 -0500 )edit
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answered 2016-07-23 10:19:34 -0500

Zeeshan gravatar image

Hello friend could u please help me out that after generating map with gmapping in rviz how can i do path planning. I have download the map.pgm from rviz but now i dont get how start path planning and how to link with map. Please help me.

Thanks

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Asked: 2016-07-21 05:10:17 -0500

Seen: 470 times

Last updated: Jul 21 '16