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In all the navigation tutorials the robot requires a pre-built map.Can i do the navigation in an unknown environment without a pre defined map,so that it moves without collision

asked 2019-09-26 13:49:54 -0600

akshayantony gravatar image

I want to design a vehicle to operate in an environment where building the map initially is not feasible.

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answered 2019-09-26 23:24:18 -0600

Yes, in 2 ways.

  1. You can build a map while your navigating, there's no requiring the map is prebuilt, just if you have one its available. You can navigate fine in SLAM because its still providing the map -> odom transform & also giving you the map image if that's helpful for navigating in your case

  2. Nothing in navigation strictly requires a map, you can navigate without a map, just can't use the static layers in your costmap meaningfully

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so i should launch the move_base without the amcl launch file.If its wrong i am sorry ,i am a beginner in ros.

akshayantony gravatar image akshayantony  ( 2019-10-07 13:30:12 -0600 )edit

hi, if I want to use the first approach, navigating while mapping and localization (SLAM), do i need to put rolling-window as TRUE, in both local and global costmap param???

Delbina gravatar image Delbina  ( 2021-07-27 11:12:50 -0600 )edit

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Asked: 2019-09-26 13:49:54 -0600

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Last updated: Sep 26 '19