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Navigation stack setup after gmapping

asked 2016-08-08 09:45:55 -0500

Zeeshan gravatar image

Actually i am working with vrep and ros and till now i have done with gmapping by getting the /base_scan /tf values from the vrep simulation and create the map in RVIZ, and downloaded the map.pgm by rviz but now i dont know how to set the navigation stack.

but next i am stuck at navigation what i do. i have downloaded all the files from git hub attached below related to navigation stack.

please let me know how to run this code which command can be use to run this code that i got from github. and what changes i have to do please tell me what should now i can do?

Please help me i shall be very grateful to you.

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answered 2016-08-08 13:26:42 -0500

ahendrix gravatar image

There are a number of tutorials on the navigation stack wiki that discuss how to set up the navigation stack.

I would have a look at the RobotSetup tutorial, and proceed as follows:

  • Set up AMCL, run it, and drive your robot around manually on your map to make sure that it localizes well
  • (optional) Create the costmap configurations and run the costmap node standalone to make sure that the costmap shows the sensor data that you expect and updates appropriately
  • Set up move_base with the costmap configuration, global planner configuration and local planner configuration for your robot
  • Tune move_base so that it drives well
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answered 2016-08-08 13:52:06 -0500

Zeeshan gravatar image

I was looking at robotsetup tutorial. ( ). In section 2.2 Creating a Robot Configuration Launch File in which i have to Replace "sensor_node_pkg" with the name of the package for the ROS driver for your sensor, "sensor_node_type" with the type of the driver for your sensor, "sensor_node_name" with the desired name for your sensor node, and "sensor_param" with any parameters that your node might take. and also replace all things for odometry and tf.

I don get what are these values?

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Since you're using a simulator and don't have separate nodes for each of your sensors and odometry, you can remove the sensor and odometry nodes from your launch file. If the simulator publishes all of the TF frames for your robot, you may be able to remove the TF node too.

ahendrix gravatar imageahendrix ( 2016-08-08 14:12:10 -0500 )edit

Sir my simulator publishes the /tf frame of my if i remove all the nodes from launch file including tf also. Then what i do now next for navigation stack and to run+link the navigation code that i got from github?

Zeeshan gravatar imageZeeshan ( 2016-08-08 14:33:04 -0500 )edit

Since your robot is simulated it looks like you don't need the robot configuration launch file at all, and you can move on to the next part of the tutorial.

ahendrix gravatar imageahendrix ( 2016-08-08 15:29:14 -0500 )edit

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Asked: 2016-08-08 09:45:55 -0500

Seen: 632 times

Last updated: Aug 08 '16