port of turtlebot_navigation

asked 2013-03-22 06:49:35 -0500

konet
16 ●6 ●7 ●8

Hello everyone, I want to port the turtlebot_navigation stack to a robot called eddie, which it uses the turtlebot API to use it under ros which is the follwing: http://www.ros.org/wiki/eddiebot

After successfully running that package I have 2 basic nodes running: minimal.launch kinect.launch

this is the stack for the turtlebot navigation (which is needed for SLAM): http://ros.org/wiki/turtlebot_navigation?distro=groovy

which has the following dependencies:

Dependencies (3)

gmapping
move_base
turtlebot_bringup

In our case we already have the turtlebot_bringup. and I think the "gmapping" package is a generic one so it doesn't needs to be modify if I'm correct. The problem is that the move_base package needs to be made for the eddiebot,

so I was going to ask you what do I need to do to get this package running?

Thanks, Omar

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answered 2013-03-22 09:22:37 -0500

fergs

13902 ●59 ●157 ●196 http://www.robotandchisel.com

There are tutorials on setting up the Navigation stack on a new robot: http://ros.org/wiki/navigation/Tutorials/RobotSetup (move_base is simply the central part of the navigation stack). Those tutorials will pretty much explain what each configuration file in turtlebot_navigation is doing.

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answered 2013-03-25 21:06:34 -0500

konet
16 ●6 ●7 ●8

HI Fergs, Thank you for your answer. What you are proposing is more concerned on creating the navigation stack from scratch right? Because I just wanted to know if there is a way of reusing as much code as possible from the turtlebot_navigation stack, since the eddie uses the turtlebot API.

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If the eddiebot had the same exact topics you could just launch turtlebot_navigation and go from there, but I don't know if it does. Furthermore, to get good performance from the nav stack, you really need to tune the parameters to match the platform you are running it on.

fergs ( 2013-03-26 11:08:29 -0500 )edit

(continued) And thus, my post points you at a tutorial which explains what is going on in the turtlebot_navigation package. You asked what it takes to get it running, and honestly, the first step is going to be understanding what components are there, and what individual launch files are doing.

fergs ( 2013-03-26 11:09:56 -0500 )edit

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