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package for topological navigation in ROS melodic

asked 2019-12-09 10:55:04 -0600

davidem gravatar image

updated 2019-12-09 11:32:51 -0600

There seems to be no package up-to-date and/or well documented online. I have tried:

  • strands_navigation: latest release on Indigo, several dependencies issues: after successfully catkin_make-ing the package, at runtime some nodes were dying because of unmet dependecies, had to browse and install said packages myself. Still not clear how to build and use a topological map, documentation sparse and unclear, mostly relying to their own simulations.
  • spqrel_navigation: latest release on Indigo (I suppose), built around NAOqi robot but with no extension to any other robot. I'm using a Turtlebot.
  • topological_navigation: latest release on Fuerte, I have been unable to figure out the functioning of this package.

EDIT: missed some needed infos. I have a fully operating navigation stack based on move_base and amcl, using a virtual Turtlebot. I need a package that offers the topological navigation in a metric map that I have built.

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answered 2019-12-09 11:19:37 -0600

What are you asking for exactly?

It sounds like you have an issue installing dependencies, you're supposed to be using rosdep. Downloading a git repository and trying to build it wouldn't work without trying to download all the dependencies normally, would it?

had to browse and install said packages myself

This is what rosdep is for.

I'm not sure if there's an "ask" in your other comments other than noting that either the software you're looking at wasn't designed for your robot or isn't available in your distribution.

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For strands_navigation, I did try to run rosdep: the dependencies needed were either satisfied or unnecessary for what I needed (example, the package for teleop-ing a robot that wasn't the same model as mine). Problem is that after running the node, many nodes were dying. All of them pertained to packages that weren't listed in the cmakelists.txt.

Anyway, my question was just "what package should I use with a turtlebot", I'll edit

davidem gravatar image davidem  ( 2019-12-09 11:30:49 -0600 )edit

So it doesn't seem that anything is missing in their software, its that you need to install your own packages to work with a turtlebot. That's not really "on the developer" to guess what robot you're using to install the correct packages for you.

If there's packages missing from the package xml that should be added, I'm sure the maintainers would appreciate a PR to add them.

stevemacenski gravatar image stevemacenski  ( 2019-12-09 11:33:08 -0600 )edit

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Asked: 2019-12-09 10:55:04 -0600

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Last updated: Dec 09 '19