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Why use move_base when mapping?

asked 2020-01-08 22:09:00 -0600

willzoe gravatar image

As I studied the tutorial SLAM Map Building with TurtleBot and tutorial Mapping and Navigation with Turtlebot, I found that move_base is used in their launch files. My understanding is that when building a map, the robot is controlled by the keyboard.Why use move_base? What does move_base do here?

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answered 2020-01-09 06:54:00 -0600

Humpelstilzchen gravatar image

Depends. If you teleop your robot to explore the area you do not need move_base.

But you could also make the robot automatically explore the area, e.g. using frontier exploration. This would require all nodes for autonomous navigation.

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Thanks. By the way, if I want to use the navigation stack to create my own navigation package, which packages should I add as dependencies? Is it possible to directly add navigation or turtlebot_navigation as a dependency?

willzoe gravatar imagewillzoe ( 2020-01-09 07:03:05 -0600 )edit

Please open a new question for that. If you are the only one using this package I would not bother. If others should use it please add only the required packages.

Humpelstilzchen gravatar imageHumpelstilzchen ( 2020-01-09 12:22:18 -0600 )edit

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Asked: 2020-01-08 22:09:00 -0600

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Last updated: Jan 09