Navigation Stack Without sensor

asked 2013-02-18 23:11:24 -0600

Ali Asad
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updated 2014-01-28 17:15:18 -0600

ngrennan
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Hi,

I wanted to ask if there is a way of using the navigation Stack without the sensor. As I am working on Youbot (Kuka) and we just want to do Goal Point movement using Navigation Stack. I tried the example from the kuka-youbot website but its giving the error "/base_scan was not update" so because of this the /vel_cmd are not sent to the base to move the base to desired X,Y.

So is it possible to set the navigation stack without using the sensor.

With Regards Ali

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answered 2013-02-19 00:33:36 -0600

dornhege

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Yes, it is possible.

Of course, you won't have any collision avoidance and your movements will be based on dead-reckoning. Depending on the setup, you'd probably have to remove all obvervation_sources from the costmap setup and switch the global frame to whatever your robot can provide, e.g. /odom.

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answered 2013-02-20 00:08:55 -0600

Ali Asad
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Hi,

Thanks for you reply, the problem I am facing is that the tutorial makes the assumtion for having TF and sensor (Packages) been made first. How can I bypass all that just to use /odom data to use the navigation stack

regards

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Hi Ali Asada, welcome to ROS Answers! Here we encourage people to ask and answer questions. The best way to add follow-up information is by editing your own question (in some cases, adding comments to someone's answer is OK too).

georgebrindeiro ( 2013-03-05 16:33:14 -0600 )edit

Answering your own question with another question is bad practice and makes it harder for other people facing your same problems to find the solution, since answers are sorted by relevance (upvotes). Please refer to: http://answers.ros.org/help/.

georgebrindeiro ( 2013-03-05 16:34:59 -0600 )edit

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