| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hi all, I wish to find a navigation package that will work without localization. I will provide the robot with its exact location in the space and its goal location as well. I want it to navigate without localization or map building at all. Additionally, the robot will use RGB-D sensors. Is there an available ROS-Noetic navigation package that's suitable for my plan?
the plan is to continuously provide the robot with its current location,
You should then pick up the position from simulation, and publish it as a transform similar to how it is done in amcl. I.e. publish the transform from the global frame to the odometry frame (in case you do have an odometry frame). This is exactly what the fake_localization package does (according to its docs)...
Asked: 2021-07-19 03:08:29 -0500
Seen: 174 times
Last updated: Jul 20 '21
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
please clarify:
You say
and
Is that you will provide it once with its location and it should then navigate using odometry? Or do you continuously provide it with its current position?
Long story short: There is no way to do navigation without any localization. The question is just what is the localization source. It could be odometry/dead-reckoning or anything else providing the current location in space.
the plan is to continuously provide the robot with its current location, but the location is available through the simulation environment and will be ground truth so there's no need for a localization package.