launch file of Navigation Stack using staic map

asked 2019-08-25 18:38:45 -0500

enthusiast.australia gravatar image

updated 2019-08-26 02:47:06 -0500

gvdhoorn gravatar image

Hello. I am using turtlebot burger with kinetic and ubuntu 16.04. I am not using lidar or any sensor to make a map, rather i have made a static map with static obstacles. I have successfully loaded the map in Odometry as global frame. Now i am setting navigation stack for autonomous driving. From the launch file, which things i can skip, as i think i can skip amcl and costmap. Or how should i alter the corresponding files? Generalized launch file for navigation stack.


   <master auto="start"/>
 <!-- Run the map server --> 
    <node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/my_map.pgm my_map_resolution"/>

 <!--- Run AMCL --> 
    <include file="$(find amcl)/examples/amcl_omni.launch" />

   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="global_costmap" /> 
    <rosparam file="$(find my_robot_name_2dnav)/costmap_common_params.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find my_robot_name_2dnav)/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find my_robot_name_2dnav)/global_costmap_params.yaml" command="load" /> 
    <rosparam file="$(find my_robot_name_2dnav)/base_local_planner_params.yaml" command="load" />


or which parameters of which .yaml file should i change? I am just using odometry to move and no sensor to detect/visualize environment. Many thanks....

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