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

asked 2018-04-09 21:46:42 -0600

Liuche gravatar image

updated 2018-04-10 01:57:02 -0600

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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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 imagemarguedas ( 2018-04-09 21:53:53 -0600 )edit

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

Liuche gravatar imageLiuche ( 2018-04-09 22:00:03 -0600 )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 imageLiuche ( 2018-04-09 22:05:55 -0600 )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 imagemarguedas ( 2018-04-12 11:21:09 -0600 )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 imagemarguedas ( 2018-04-12 11:24:36 -0600 )edit

OK! Thank for your suggest , I'll try

Liuche gravatar imageLiuche ( 2018-04-15 21:31:25 -0600 )edit