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ROS navigation stack: move_base (pioneer_nav.launch (pioneer_base.launch…
ROS navigation stack: move_base
https://wiki.ros.org/navigation?distro=indigo
costmap_2d
new
costmap_2d layer
OPTIONS
costmap_2d layers
customise map_server
update the image,
restart the map_server
pioneer_nav.launch
node: move_base
pioneer_base.launch
node: pioneer_driver --> USB
node: hokuyo_node_will
mybot_laser_obstacle_clearing_filter
node: tf.static_transform_publisher --> lidar offset from
base_link
node: tf.static_transform_publisher --> camera offset from base_link
node: fake_localization
node:move_base move_base::move_base
base_local_planner_params.yaml
conservative_reset_dist , controller_frequency , clearing_rotation_allowed, clearing_roatation_allowed ,
base_global_planner = NavfnROS
base_local_planner_params.yaml
TrajectoryPlannerROS:
remap from="scan" to="scan_filtered_clearer"
global_costmap_params.yaml
global_costmap_params.yaml
global_costmap:
inflation_layer:
ADD
plugins:
-
-
see:
https://answers.ros.org/question/83031/move_base-and-costmap_layers/
local_costmap_params.yaml
local_costmap_params.yaml
local_costmap:
costmap_common_params.yaml --> NS local_costmap
costmap_common_params.yaml
observation_sources:
laser_scan_sensor:
laser_scan_sensor_clearing:
costmap_common_params.yaml --> NS global_costmap
map_server.launch
node: map_server1 --> topic 'map'
node: map_server2 --> topic 'cost_map'