Obstacle free 2d Navigation - Navigation Stack
Hi,
I am working on implementing an indoor rover. I have successfully implemented a /cmd_vel topic for commanding, as well as /odom for localization. Next I want to have a path planning service and I looked at Move_Base but it requires a laser scanner or at least a pointcloud.
Is there a way to use Move_base with an empty map? Or is there an alternative for obstacle-free differential drive navigation?
I used this one http://wiki.ros.org/pr2_controllers/T... Please take a look at this for starting a simple driveForward() function and rly understand! After doing, map-based nav could be the next big topic for you
You can configure the navigation stack for use without any obstacle layer, the question is why? You will almost certainly crash into something, so I don't see any point in path planning.
I think you should add more information about your rover, e.g. are there any sonar/infrared sensors that can be used? Or maybe a 3d camera?
It is a rover that is controlled remotely. The point in path planning is that you can tell the rover to move to a relative position from its current position without having to contentiously steer it. It has a stereo camera giving visual odometry, but doesn't need to get around obstacles by itself.
I still thing path planning is a bit waste of resources, sounds more like a job for a simple path follower, e.g. pure pursuit or follow-the-carrot
ye, anything that will do this is welcome, will test those two packages. If you have any other recommendations, feel free to share