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Navigation of turtlebot on static map

hello. I am using turtlebot burger with kinetic and ubuntu 16.04. I am not using lidar or any sensor to make a map, rather i have used a static map made in an image editor. I have been able to make this map run on map server, but when i use rviz to esimate initial pose and give some navigation goal command, i can not do so. i run roscore on PC,then roslaunch on turtlebot, then start map server, then start rviz, but something is missing. How can i do autnomous navigation using my static map. regards