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Can we navigate jackal using local costmap only?

asked 2021-09-27 00:40:20 -0500

troyelex gravatar image

is it possible to navigate robot to goal position using local costmap only? If yes how to do.

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answered 2021-09-27 15:57:33 -0500

Mike Scheutzow gravatar image

updated 2021-09-27 15:58:47 -0500

Short answer: No.

Longer answer: I'm pretty sure the local costmap expects the robot have a current pose on a "global map". Also, the navigation goal is specified as a pose in this map frame. The global map is allowed to be completely empty, making it pretty trivial to create. However, if the actual physical space is not empty, you can expect the global planning to be poor since you're not giving move_base good data to work with.

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Asked: 2021-09-27 00:40:20 -0500

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Last updated: Sep 27 '21