0
$\begingroup$

Rosanswers logo

hi , i am working on a mobile robot with ROS , and i want to have navigation ability without any odometry data from my motors . hector_slam is run very good and i have no problem with it , i can get pos and yaw of my robot with a hokuyo laser sensor . the map is published to /map topic .

for navigation and planning i want to use the move_base without map_server and AMCL . i dont have any odom topic .

what is the launch file for do this exactly? what is the param config for move_base , because there is no update for costmaps from rviz ?! ... i seems its not get my /map topic for calculations... ? ( global_cost_map is STATIC , local_cost_map is not STATIC and windowing is enabled !? .

1 ) how can i send /map to move_base ? 2 ) why we need odom tf ( odom => base_link ) ? 3 ) is odom topic necessary for move_base? 4 ) what is paramers config for move_base for dynamic SLAM navigation ? 5 ) what is a launch file for this to get worked ?

thx for any reply :) .... i just confused a bit :( .


Originally posted by edwin on ROS Answers with karma: 36 on 2014-05-18

Post score: 0


Original comments

Comment by David Lu on 2014-05-19:
What version of ROS are you using? Can you post what configuration you're already using?

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

hi David , i am using hydro , i solved my problem by publishing a fake optometry data using hector_slam position . only the speed of robot is computed from robot encoders .

now my robot can navigate and follow the trajectory path to rich the goal . i don't use static map ( map server and amcl ) so for both local and global parameters , i set the static parameter false and windowing is true .


Originally posted by edwin with karma: 36 on 2014-05-24

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.