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Hello, I am new to ROS. I have a p3dx robot and I am using it for outdoor navigation. I am using robot_localization package for pose estimate and localization. I have target points in GPS co-ordinates and want a shortest path algorithm like a -star to be implemented.I have sonar sensor to detect obstacles. Is there any package using which I can navigate in an unknown map or area avoiding obstacles using the above data/configuration. I tried to analyze the Navigation stack but it requires cost map and other localization technique.


Originally posted by Anirvan0102 on ROS Answers with karma: 28 on 2016-06-17

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Comment by ahendrix on 2016-06-17:
The A-star algorithm and the navigation stack both depend on having a pre-built map. Without a pre-built map you will need to look at alternative algorithms for path planning.

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In nav2d is the nav2d_operator, which is a purely reactive obstacle avoidance node, that can work without a global map. It uses a local costmap_2d internally, so you should check how to update that from sonar instead of laser range data.


Originally posted by Sebastian Kasperski with karma: 1658 on 2016-06-20

This answer was ACCEPTED on the original site

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Comment by Anirvan0102 on 2016-06-20:
Thanks Sebastian, I will try it out.

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