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ROS2 drive 1 meter

asked 2020-05-20 04:06:09 -0500

M.Redel gravatar image

Hello, I would like to port this ( http://wiki.ros.org/navigation/Tutori... ) application into ROS2, or is there something already ported? Unfortunately I only recently switched to ROS2 Eloquent.

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answered 2020-05-22 08:15:34 -0500

flo gravatar image

Hello @M.Redel, be sure to check out this code from the navigation2 repo: https://github.com/ros-planning/navig...

Here is also a tutorial to get started with navigation on a real robot: https://navigation.ros.org/tutorials/...

Be sure that your robot qualifies for creating a map (with i.e. a Lidar scanner) where it can be localized in. Otherwise the navigation stack cannot help you navigate your robot 1 meter. It needs to constantly check if your robot moves even the tiniest bit, in order to validate that your robot is on track towards its goal. Therefor, it needs constant input from your wheels (odom) and optional additional sensors like IMU and Lidar. External sensors can also be integrated, typical all achieved with a Extended Kalman Filter. When you successfully provide a good localization of your robot for your map or even world, than navigation2 can help you to drive 1 meter respectively to your initial pose.

Please update your question with more information about your application, so we can help you better to achieve your goal.

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Asked: 2020-05-20 04:06:09 -0500

Seen: 23 times

Last updated: May 20