Hi, How to use a known map for path planning without use Rviz

asked 2018-04-09 21:46:42 -0500

Liuche gravatar image

updated 2018-04-10 01:57:02 -0500

Hi Thank for your attention!

I already use gmapping to build a map, But I don't want to use rviz to do navigation,

(This means that I don't want to use Rviz's 2D Pose estimate button and 2D Nav goal button to do Path plan.)

(Using Rviz's 2D Pose estimate and 2D Nav goal programmatically.)

How to use a known map to do path planning? Because although I have a map that has already been built, I don't know the robot's position on this map and the coordinates of each pixel of this map, so I don't know how to do path planning.

Can someone please help me?

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Comments

The common way to do path plannning programmatically (not with RViz) is to send goals to the move_base action server (example here). The rest of your question seems related to localization and not path planning. Can you elaborate?

marguedas gravatar image marguedas  ( 2018-04-09 21:53:53 -0500 )edit

Hi, thank for your answer! My question is that I don't know the "coordinates of each pixel of this map",

Liuche gravatar image Liuche  ( 2018-04-09 22:00:03 -0500 )edit

I don't know the coordinates of the map and I don't know the coordinates of the robot currently on the map, so I don't know how to go from point A to point B.

Liuche gravatar image Liuche  ( 2018-04-09 22:05:55 -0500 )edit

As your robot starts with no knowledge of it's location, it needs to "look around" to initialize it's localization. At that point your robot will have a (bad) idea of where it is on the map. you should be able to start sending it goals and as it sees more of its environment, the localization...

marguedas gravatar image marguedas  ( 2018-04-12 11:21:09 -0500 )edit

... will converge to a more accurate estimation. The problem you are trying to solve is called "kidnapped robot problem". Various papers using ROS have been published on that topic. e.g. http://www.robot.t.u-tokyo.ac.jp/~yam...

marguedas gravatar image marguedas  ( 2018-04-12 11:24:36 -0500 )edit

OK! Thank for your suggest , I'll try

Liuche gravatar image Liuche  ( 2018-04-15 21:31:25 -0500 )edit