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Is it possible to use `move_base` with the map being created in real time?

asked 2020-07-18 00:58:21 -0500

kane_choigo gravatar image

Hello, I'm using ROS kinetic with Ubuntu 16.04.

Although I've ever used the move_base node before, I'm not sure whether it is possible to utilize it in real-time.

What I want to say is, if it is possible to get the map data(small enough to figure out the surroundings and move somewhere in the small map) which will be created before 0.01 seconds(I mean, the real-time.).

It is imperative to have the map data to use move_base node, as far as I know.

And because I'd like to make the mobile robot move in an unknown environment, I'm planning to use move_base partially to make a local-plan which will be a part of the full trajectory.

How can I do these:

  1. to get the map data from map_server

    1. to designate the local goal point to make move the robot.

For the second, any inherent planners like dwa planner or carrot planner would not be used, but I'll use my own planner.

If anyone familiar with making the robot just by designating a local goal point is here, would you please give me a help?

Thanks in advance. :)

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answered 2020-07-18 10:38:27 -0500

kosmastsk gravatar image

You can use a SLAM algorithm to create the map in real-time and navigate in it. For example, if you are using a laser scan sensor, gmapping or Karto will publish the map in the /map topic and at the same time, the move_base will receive the /map information to move the robot. So the map is not available before but is created simultaneously with your movements.

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Thanks for your quick reply. Now I can figure out that I can use the SLAM algorithm in order to publish a /map data to /move_base node. And one more, you said the /move_base node gets the /map topic to make a robot move somewhere. Then, how does the /move_base node work? I mean, would it be necessary to have a planner like dwa_planner or carrot_planner?

kane_choigo gravatar image kane_choigo  ( 2020-07-19 22:26:16 -0500 )edit

Yes, you need to setup a local and a global planner that will provide the paths and the move_base will follow them. Take a look in here on how to setup the configuration files and load the planners properly

kosmastsk gravatar image kosmastsk  ( 2020-07-20 05:33:29 -0500 )edit

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Asked: 2020-07-18 00:58:21 -0500

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Last updated: Jul 18 '20