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| 2015-04-20 16:52:14 -0500 | asked a question | Is AMCL mandatory for outdoor robots? Dear all, I'm new in the ROS world and I have a question that would seem to be stupid for most of you but we all have to start somewhere. I have trouble to understand the role of AMCL. I believe that AMCL is used by indoor robots to find a localization of the robot on a pre-loaded map (made with laserscan). Am I wrong? My robot will be used outdoor with GPS, IMU, Wheel odometer and a laser scan. So I don’t need to include AMCL in the move_base node? Could you confirm that I can use the navigation stack without the AMCL node? All the transformations from odom to map (publish initially by AMCL) will be managed by localization stack (ukf_localization_node or ekf_localization_node). Am I right? Best regards |
| 2015-04-20 09:06:32 -0500 | asked a question | Max_vel_theta limit not taken into account Hello, We are setting up the navigation stack in our robot. The maximum rotational speed of the robot is 0.628 rad/s (+/- 0.628 rad/s). In order to take this limit, we have defined the max_rotational_vel parameter to 0.628 in the file base_local_planner_params.yaml. TrajectoryPlannerROS: max_vel_x: 0.5 min_vel_x: 0.01 max_rotational_vel: 0.628 min_in_place_rotational_vel: 0.01 This parameter is not considered. Indeed, when we set a goal point in RVIZ, the speed sends on cmd_vel exceed 0.628 rad/s (more than 1 most of the time). Could you help me? Best regards |
| 2015-04-18 18:41:22 -0500 | asked a question | how to set-up /tf_static ? I’m setting up the move_base on our robot to allow autonomous navigation. In order to publish the static transform between base_laser and base_link and reduce the load on the “communication” link, I want to use the tf_static topic of tf2 instead of the tf:broadcaster. I don’t understand how to do that. Could you help me? Is it possible for move_base to use transform publish on tf_static topic? Best regards, |
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