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Gmapping and Navigation Stack

asked 2018-03-21 12:00:12 -0500

denisolt gravatar image

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 -0500

fergs gravatar image

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 -0500

Seen: 98 times

Last updated: Mar 27 '18