What I need to run a minimum navigation simulation?

asked 2020-02-28 02:41:54 -0500

lorenzo gravatar image

I want to run a simulation without gazebo and using only a static map provided by the map_server. I know that once I run the main nodes in the navigation and I activate them, I must provide an initial pose and a goal pose.

In order to run effectively the simulation I need also to provide the transforms:

  • world -> map
  • map -> odom
  • odom-> base_link
  • And topic /odom correctly updated.

Are this data enough? Do I need further topic/transforms to navigate correctly in simulation?

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Comments

Well the simulation is needed in order to simulate sensor data which then you can use in your localization algorithm to create the respective transforms. If you can simulate this on your own than you should be fine. Costmap plugins requires a global (map/odom) and local (base_link) frames and pointcloud topic (if you are running obstacle avoidance) and local path planners usually require odom topic

pavel92 gravatar image pavel92  ( 2020-02-28 02:55:48 -0500 )edit

I just merely want to see my robot moving through a static map. I am not interested for now in obstacle avoidance.

lorenzo gravatar image lorenzo  ( 2020-02-28 03:11:15 -0500 )edit

In that case you might not even need world and odom frames. You can achieve that with only map and base_link tfs only and a perfect odometry data

pavel92 gravatar image pavel92  ( 2020-02-28 03:14:22 -0500 )edit

I am not sure of your answer. I have tried providing only this info and what I got is the robot entering continuosly in recoveries.

lorenzo gravatar image lorenzo  ( 2020-02-28 05:35:02 -0500 )edit