Ask Your Question
2

sequence of goals on rviz for robot navigation

asked 2013-04-26 11:24:12 -0600

آمال gravatar image

updated 2013-04-28 23:18:08 -0600

ipso gravatar image

Hi every one,

I want my TurtleBot robot to navigate on environment map autonomous. I found that it is using amcl, which allow to give a goal to the robot in rviz then robot will move to it, but this is not so great. I found that there is exploration I still try to run it. : now I want to know

1- If I can give the robot a sequence of goals instead of one goal on rviz to work as if it explore all the environment not just move to one place on it ?!

2- If I can link each goal with specific action for example to do object recognition at specific point on the map ?!

Thanks,

edit retag flag offensive close merge delete

Comments

something like one on this video http://www.youtube.com/watch?v=w8LwjhR1ZgY

آمال gravatar imageآمال ( 2013-04-26 11:27:24 -0600 )edit

Could you do that ?

Muhammad Elmallah gravatar imageMuhammad Elmallah ( 2017-01-10 11:09:36 -0600 )edit

1 Answer

Sort by » oldest newest most voted
0

answered 2016-04-26 20:58:57 -0600

You will have to implement a node with a state machine that describes such process.

You can store the sequence of goals in that node. First the node would publish the first goal. Then, the node would need to read the position of the robot and wait to the robot is close enough to that first goal. If the goal is considered reached, then the node would publish a next goal position. This process would be repeated until the whole sequence is accomplished.

edit flag offensive delete link more

Comments

Is there a tutorial for how to link the node with the navigation stack?

Muhammad Elmallah gravatar imageMuhammad Elmallah ( 2017-01-10 11:10:21 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2013-04-26 11:24:12 -0600

Seen: 237 times

Last updated: Apr 26 '16