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How to install/setup/use navigation stack

asked 2018-07-06 15:09:46 -0500

AutoCar gravatar image


I have built a MIT-Racecar which has ROS, ubuntu, Ackermann and VESC. The car can be driven with a teleop who sends out ackermann_msgs/AckermannDriveStamped type messages in ROS. The car also publishes /tf, /odom, hokuyo 2D LiDar related /scan messages, and ZED stereo camera related image and camera message.

I am a little confused about what exactly I need to do next to make it autonomous. After reading the navigation stack tutorial on ROS Wiki, I think I need to do the following:

  1. Install the navigation stack by

    sudo apt-get install ros-kinetic-navigation

  2. Create a ros package under my MIT-Racecar workspace and setup the config and launch files as described in
  3. Since I am using Ackermann, I need to install and setup teb_local_planner.
  4. Run the stack with launch file generate in 2 by

    Terminal 1: roslaunch my_robot_configuration.launch

    Terminal 2: roslaunch move_base.launch

  5. Use teleop to drive the car around to map the environment I am in (probably need to set some flag when I run the command in 4).
  6. Run command in 4 in localization mode.
  7. Set a gaol for the car, and then it will drive there autonomously.

Am I correctly in these steps?

Thank y ou very much.

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2 Answers

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answered 2018-07-06 15:27:17 -0500

aarontan gravatar image

yes you are correct. you can get a better idea of how this all works with the clearpath husky demo

Try running the mapping tutorial, then the amcl tutorial and you will have a basic understanding of how the navigation stack works. When you use your own robot, its just a matter of a different launch configuration.

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What SLAM algo does the ROS navigation stack use? gmapping, hector, ...

AutoCar gravatar image AutoCar  ( 2018-07-07 00:45:08 -0500 )edit

this depends on you, if you go through the husky clearpath demo, they use gmapping

aarontan gravatar image aarontan  ( 2018-07-08 12:18:34 -0500 )edit

If I install the ROS navigation stack by sudo apt-get install ros-kinetic-navigation, does it install gmapping? Or I have to install gmapping separately?

AutoCar gravatar image AutoCar  ( 2018-07-15 18:32:36 -0500 )edit

yes i believe it should

aarontan gravatar image aarontan  ( 2018-07-16 09:20:43 -0500 )edit

answered 2019-02-13 08:34:10 -0500

Mohamed gravatar image


Here is a complete tutorial on using the ros navigation stack.

I thought of sharing it here as it might be useful.

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This is not an answer, but rather a comment as it does not provide an answer but is only a link. And, honestly, it comes of rather spammy because it's a link to your YouTube channel and you did the same thing to two other questions at the same time (#q65453& #q274332).

jayess gravatar image jayess  ( 2019-02-13 18:08:39 -0500 )edit

The tutorials are not shared randomly (spammy) as you mentioned. They are shared where they are only relevant. Spammy means that they were shared randomly everywhere which is not the case. And there is nothing wrong with sharing the relevant answer which happens to be a tutorial on my channel.

Mohamed gravatar image Mohamed  ( 2019-02-13 20:53:41 -0500 )edit

Sorry, if this came off as harsh or insulting to you because it wasn't meant to be. What I meant was that it's more of an advertisement to your YouTube channel than an answer. Link-only answers are always discouraged.

spammy != random
jayess gravatar image jayess  ( 2019-02-13 21:02:34 -0500 )edit

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Asked: 2018-07-06 15:09:46 -0500

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Last updated: Feb 13 '19