Navigation Stack without SLAM or AMCL

asked 2018-01-02 02:52:26 -0500

Mumie gravatar image


is it possible to use the ROS Navigation Stack without SLAM and AMCL. These are probabilistic localization methods but we use a motion capture system which provides us with a very accurate pose via /tf. Robot has no sensors at all (e.g. Laserscanner). I supply a static map of the environment. The global planner works without a problem. But the local planner (robot) never stays on path or reach its goal, no matter if I use base_local_planner, dwa_local_planner or teb_local_planner. Also I am not sure if nav_msgs/Odometry is necessary at all or if move_base can collect the pose from /tf. Motion Capture System only provides pose no speed data. Is it necessary to provide although actual position is always updated and exact.

Maybe someone has a suggestion how to setup correct or what's missing for the local planners.

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Should be possible. Here's a similar question, but it hasn't been completely answered yet: #q256899.

ahendrix gravatar image ahendrix  ( 2018-01-02 03:06:52 -0500 )edit

Thank you for your answer.

Mumie gravatar image Mumie  ( 2018-01-08 10:50:21 -0500 )edit