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need Help: Conceptual understanding of Navigation stack

asked 2013-08-14 14:14:02 -0500

Gazer gravatar image

Hi all

I have already used navigation stack on the robot. However, I still don't understand how it works. Is there any research papers, or webpage (besides ros website that talks about global planner, local planner, move_base) that will explain how the navigation stack work, in general?

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answered 2013-08-15 01:41:00 -0500

dornhege gravatar image

I'd say the ROS website is probably the best documentation there is (at least it should be).

If you have some specific question about what is unclear, this would be the place to ask.

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ok. thank you for your reply dornhege! I have two more questions: 1) do you think if we could run the robot in gazebo simulator AND in the real world at the SAME time? 2) is there any guidance (or a template) for writing the local planner in the navigation stack

Gazer gravatar image Gazer  ( 2013-08-15 18:42:12 -0500 )edit

1) The question is: What should that do? What do you want to achieve? Essentially from the ROS perspective it will look like two robots. 2) The template is the interface to derive from. It's actually pretty clear. For examples look at TrajectoryPlannerROS or PoseFollower.

dornhege gravatar image dornhege  ( 2013-08-15 23:44:22 -0500 )edit

answered 2013-08-15 02:31:02 -0500

Chrimo gravatar image

Hello World, I know the problem... There are too many informations available when starting with the ros environment.

I've solved the problem by trying simple things first and step by step.

  1. I've developed a working move_base for my robot, which uses cmd_vel
  2. I've used simple keyboard teleop with my move_base
  3. I've developed simple sensors interfaces (bumpers and kinect) and verified the output with rostopic
  4. I've developed a simple controller which uses input from sensor topics and send informations to my move_base (cmd_vel). A simple wall-follower-algorithm is easy...

But now it will be complex, I want to use the default navigation stack for my needs and like to develop a simple explorer and obstacle avoider.

Please can anybody tell me in a few sentences the next steps :-)

Thanks in advance Cheers Chrimo

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Asked: 2013-08-14 14:14:02 -0500

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Last updated: Aug 15 '13