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2014-01-28 17:21:47 -0500 marked best answer Navigation Stack with gmapping

Has anyone had success getting the navigation stack to work with the gmapping package? If I understand it correctly, it appears that you could stop using the map_server and amcl, replace those with gmapping, and you could then perform autonomous mobility in an environment while you SLAM. Is that understanding correct? Do the local_costmap and global_costmap support this idea, and if so, what are the key parameters to configure this to happen?

2014-01-28 17:21:45 -0500 marked best answer Publishing a xform from /map to /base_link?

Hey all -

Trying to get up to speed on the NavStack. Presently, when I run the launch file, I get the following error:

Waiting on transform from base_link to /map to become available before running costmap, tf error: Frame id /map does not exist!

Presently, my tf tree looks like this odom->base_link->base_laser. It makes sense that the tree should look like this: /map->odom->base_link->base_laser, however, I'm not sure A) who's responsibility it is to broadcast that transform and B) how to compute said transform. Any and all assistance would be greatly appreciated.

2014-01-28 17:21:45 -0500 marked best answer roslaunch and map_server

Does anyone know how to do the following using roslaunch?

rosrun map_server map_server mymap.yaml

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2012-02-06 01:52:25 -0500 commented question Is robot_pose_ekf used by another node?
I tried to elaborate. Let me know if I need to expand this.
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2012-02-06 01:36:25 -0500 marked best answer Is robot_pose_ekf used by another node?

PR2 navigation is using odom_combined --> base footprint transform which is published by robot-pose-ekf node for it's navigation stack!

2012-02-03 13:24:32 -0500 asked a question Is robot_pose_ekf used by another node?

Are there any examples of the output of robot_pose_ekf being used as a service by another node?

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2012-01-31 01:42:32 -0500 commented answer ROS minimal installation
looking into it now. thanks.
2012-01-31 01:41:39 -0500 commented answer what path planning method does GMAPPING-based navigation use?
np. can you upvote or accept if helpful?
2012-01-30 11:26:20 -0500 answered a question what path planning method does GMAPPING-based navigation use?

If I can assume you're using the move_base node from the navigation stack, the local planner is configured out of the box to use dynamic window, but also supports trajectory rollout (http://www.ros.org/wiki/base_local_planner) The global planner uses Dijkstra's algorithm. (http://www.ros.org/wiki/navfn). HTH!

2012-01-30 11:19:33 -0500 asked a question ROS minimal installation

Hi all,

Is there a preferred method for doing a minimal installation (smaller than ros-base)... such that the robot would be more of an embedded target and the development environment would be some logical setup (some VM).

I'm working with a com-express board with an atom processor and a 4GB hard drive. I'm trying to get the install as compact as possible. Any thoughts (even a different direction than the "embedded target") would be greatly appreciated.

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2012-01-13 13:12:26 -0500 marked best answer Navigation Stack with gmapping

I was able to get this to work by not running both amcl and map_server, and running gmapping. The only parameter that I had to change (from the defaults in the navigation tutorial) were to change the global_costmap to NOT have a static map (static_map: false) and to set the rolling_window to true (rolling_window: true) in the global_costmap_params.yaml file.

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