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navigate in hector map

asked 2012-07-11 06:25:05 -0600

pkohout gravatar image


I get a nav_msgs/ OccupancyGrid and can view it in rivz, all works fine. But i have no idea if there is any package or node to navigate with that map. I am using hector_mapping and a hokulu_laser to get the map.

Are there any packages or so in ros where this is already implemented or do you have a link to a tutorial about that topic and is there anywhere a detailed explanaishon about the OccupancyGrid ?

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answered 2012-07-11 06:45:46 -0600

allenh1 gravatar image

I suggest you look here. I don't imagine that navigation with an Occupancy Grid Map will be any different based on its orgin. An occupancy grid map is a map of fixed size containing

An occupancy grid map represents the map as a field of random variables arranged in an evenly spaced grid. Each random variable is a binary and corresponds to the occupancy of the location it covers.

~ Probabilistic Robotics definition.

This means that the Occupancy of a space is a binary comparision (1 = occupied, 0 = empty). Hope this was helpful! Just try the navigation stack with your map.

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Asked: 2012-07-11 06:25:05 -0600

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Last updated: Jul 11 '12