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I want to design a vehicle to operate in an environment where building the map initially is not feasible.


Originally posted by akshayantony on ROS Answers with karma: 3 on 2019-09-26

Post score: 0

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Yes, in 2 ways.

  1. You can build a map while your navigating, there's no requiring the map is prebuilt, just if you have one its available. You can navigate fine in SLAM because its still providing the map -> odom transform & also giving you the map image if that's helpful for navigating in your case

  2. Nothing in navigation strictly requires a map, you can navigate without a map, just can't use the static layers in your costmap meaningfully


Originally posted by stevemacenski with karma: 8272 on 2019-09-26

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by akshayantony on 2019-10-07:
so i should launch the move_base without the amcl launch file.If its wrong i am sorry ,i am a beginner in ros.

Comment by Delbina on 2021-07-27:
hi, if I want to use the first approach, navigating while mapping and localization (SLAM), do i need to put rolling-window as TRUE, in both local and global costmap param???

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