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2d navigation robot setup dependency

asked 2019-06-06 13:36:18 -0600

Usui gravatar image

updated 2019-06-10 16:39:46 -0600

So I am doing a 2d navigation and am using create_autonomy for irobot

I am following this tutorial

In it I need to create a package with dependency:


if I am using create_autonomy package and urg_node package do I still need to create those dependency? If so how?


I created move_base with dependency of move_base urg_node and ca_driver.

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answered 2019-06-06 16:09:18 -0600

jacobperron gravatar image

updated 2019-06-06 16:10:45 -0600

I believe what you need is an equivalent of my_tf_configuration_dep.

create_autonomy (specifically, ca_driver) provides odometry on a topic and the transform from the odometry frame to the base frame on /tf. And urg_node is providing sensor data.

Specifically, I think you need to provide the transform from your robot base to your range finder. There are a few ways you could do this. Assuming that your range finder will not be moving with respect to the robot base, you could use a static transform publisher. For example:

rosrun tf2_ros static_transform_publisher X Y Z YAW PITCH ROLL base_footprint laser

I'm assuming that the robot base and range finder frames are base_footprint and laser, but these are configurable in create_autonomy and urg_node respectively. You should replace X Y Z YAW PITCH ROLL with the actual transformation from base_footprint to laser.

Launch file equivalent:

  <node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser_broadcaster"
             args="X Y Z YAW PITCH ROLL base_footprint laser" />

Other options are to describe your robot configuration with URDF and publish the transform using robot_state_publisher (tutorial1, tutorial2) or, publish the laser transform from code (tutorial).

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oh you mean this: rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link laser 100? I have this already so I just need to configs and launch file then?

So then I just need to do: catkin_create_pkg my_robot_name_2dnav move_base

instead of catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep ?

Usui gravatar image Usui  ( 2019-06-06 17:30:09 -0600 )edit

That sounds about right to me. Maybe you can replace the "my_configuration_*" dependencies with the actual packages you are depending on e.g. ca_driver and urg_node.

jacobperron gravatar image jacobperron  ( 2019-06-06 17:44:03 -0600 )edit

Okay I will try that. Oh and I don't need the robot_configuration launch file right? just the move_base launch file

Usui gravatar image Usui  ( 2019-06-06 17:57:25 -0600 )edit

@jacobperron I updated my progress. Now it just spins alot. Here's a link to it:

Usui gravatar image Usui  ( 2019-06-09 19:44:02 -0600 )edit

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Asked: 2019-06-06 13:36:18 -0600

Seen: 285 times

Last updated: Jun 10 '19