How to navigate a robot not using Rviz '2D Goal Button' ??

indigo

asked 2019-01-11 09:36:52 -0500

Jack Smith
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Hello

Im just asking this question in order to be pointed in the correct direction.

I am currently completing a Navigation project for myself and have been using the turtle bot simulator using Gazebo and Rviz.

I have managed to create a map, and then navigate around the map within Rviz using the '2D Nav Goal' button however I would like to build my own A* algorithm script in order to navigate the robot instead of using the '2D Nav Goal' button so that my robot will be able to autonomous and not need human interaction on Rviz.

Can someone please point me in the correct direction in terms of packages or tutorials?

All the tutorials I have seen use Rviz and therefore the 2D goal button...

Hope someone can help, Thanks

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How will having you're own A* algorithm mean you won't need to goal button? The turtle bot simulator already has a route planner. What will your robot be doing autonomously if you can't give it a goal?

PeteBlackerThe3rd ( 2019-01-12 10:20:33 -0500 )edit

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answered 2019-01-13 19:57:50 -0500

ahendrix

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As the other answers have said, rviz is only responsible for sending the destination; it has no part in the path-planning process, and therefore replacing it does not require that you implement A*

I think you may be looking for http://wiki.ros.org/navigation/Tutori...

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answered 2019-01-13 03:49:24 -0500

billy
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RVIZ has nothing to do with navigation. The button in RVIZ simply puts a message on the move_base_simple/goal topic. RVIZ simply allows you to visualize what is happening with the nodes you're running.

You want to implement your own navigation node and if I was doing the same I would stick with RVIZ and also use the button just for convenience. I think you should spend additional time working through ROS tutorials as it seems you have some misunderstandings about how it works, and implementing a new method for navigation will require a considerable level of integration.

You've asked for specific packages or tutorials so I suggest you use the Navigation Stack tutorials and really study the message passing required to make it work. Only once you really have a clear understanding of which nodes are doing what, and how the messages are formatted.

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How to navigate a robot not using Rviz '2D Goal Button' ??

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