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2012-01-03 11:40:10 -0500 | marked best answer | Setting up navigation on a pioneer 2 platform using amcl and p2os I'm not sure how much of the problem is related to this, but I just noticed that for your local costmap, you have both EDIT: Based on your new information (which should be appended to the original question with an edit, rather than as an answer next time), all you need to do is modify navigation.launch in the p2os_launch package. Within the move_base node, you need to add a What this does is tell move_base to look at the "/static_map" topic rather than the "/map" topic. |
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2011-12-07 04:13:11 -0500 | answered a question | Setting up navigation on a pioneer 2 platform using amcl and p2os Ok i got it running now, but only without gmapping. Problem seems to be that amcl wanted the map from topic /map and gmapping was building its map on that topic. /static_map was totally useless in that case because no node used it. Furthermore if i give amcl an inital pose, move_base does not care. How do i get the "static_map" in peaceful coexistance with the gmapping "map"? farshid616: maybe i need a tf from static_map to map? |
2011-12-06 21:40:57 -0500 | received badge | ● Editor (source) |
2011-12-06 21:40:07 -0500 | answered a question | Setting up navigation on a pioneer 2 platform using amcl and p2os Thanks, would have led to an error sooner or later. But did not fix the main problem... Here is what rviz looks like. To me it seems the static map is not correctly mapped to the costmap configuration... but why? |
2011-12-05 23:54:35 -0500 | asked a question | Setting up navigation on a pioneer 2 platform using amcl and p2os Hello everyone,
I'm trying to set up the navigationstack on a pioneer 2 robot. Up to a certain point, everything works fine. But when it comes to localizing itself on a previously recorded static map, it does not work like it's supposed to work. This is my procedure to start the navigation:
In Rviz i was setting up everything described here. Here is what my local_costmap_params.yaml looks like: global_costmap_params.yaml base_local_planner.yaml |