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Gmapping and Navigation Stack

asked 2018-03-21 12:00:12 -0600

denisolt
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Can Gmapping alongside with Nav Stack be used for navigating the robot while avoiding obstacles? If so, is there any source code that can make life easier?

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answered 2018-03-27 18:08:30 -0600

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

Yes, you can do this -- Gmapping basically replaces AMCL (you should not run both at the same time, it will seriously mess with your TF). As for "source code" -- it's really a series of launch file changes (remove the amcl node, add gmapping), which will depend entirely on the robot you are using.

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Asked: 2018-03-21 12:00:12 -0600

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Last updated: Mar 27 '18

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