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Roomba 400 navigation stack setup

asked 2018-04-03 11:45:54 -0500

Ezredes gravatar image


I'm using create_autonomy driver for my roomba 400 on kinetic, and I want to set up the navigation stack (especially move_base to send goals to the robot and navigate in rviz). The ca_driver running on Raspberry, the gmapping, map server on the PC. I'm following the navigation stack tutorial, and as described in it, first, I need to create a package with the following dependencies:

catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep

How should I need to fill up the dependencies on which device (RPI or PC) once the ca_driver itself publish a /tf and a /odom topic when I starting it with the following launch:

roslaunch ca_driver roomba_400.launch

Maybe if anyone successfully deployed the navigation stack, can send me a sample/example launch file or project?

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answered 2018-04-03 15:43:15 -0500

jacobperron gravatar image

As mentioned in a previous post, you can check out turtlebot_navigation for example launch and config files.

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so do I need my_sensor_configuration_dep if I am using urg_node? also doesn't the create_autonomy provide tf and odom so that dependency would be move_base urg_node and create_autonomy?

Usui gravatar image Usui  ( 2019-06-06 14:43:57 -0500 )edit

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Asked: 2018-04-03 11:45:54 -0500

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Last updated: Apr 03 '18