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Questions tagged [nav2d-exploration]

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How to configure Nav2's SMAC Planner to maintain a safer distance from obstacles?

I'm facing an issue where the SMAC Planner in Nav2 consistently plans paths too close to obstacles, often just on the margins or even within the inflated areas. My aim is for the planner to ...
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how to use nav2d with my own lidar and slam algorithm?

i'm trying to do this job,here is the scene: I want to take my lidar move around a house ,and i hope nav2d could give me a path about how to move to the most proper frontiers,my slam algorithm is ...
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nav2d toturial 3

Hello everybody, i'm using Ubuntu 14.04 LTS and ROS Indigo i'm trying to launch tutorial 3 for nav2d package. but it seems that there's error in the mapper. all what i did is first i launched the ...
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How to setup the yaml files for a modified map?

Hi all I'm using Nav2d where the part of simulator is replaced with my own physical robot. The map in simulator has larger dimension size than my map which is only 5x3 meters. Since the map size is ...
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Understanding launch file from nav2d tutorial

I have a node that I want to subscribe two topics from nav2d, I'm interested to use the /base_scan and /odom topics. When I look in launch files then I can see ...
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nav2d exploration plugin

Hi all, I see nav2d comes with the ability to plugin exploration planners via pluginlib for cooperative exploration. The source includes some example plugins. I've gone through the nav2d tutorials as ...
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How to increase the cell size in occupancy grid properly?

Hi, I want to change the cell size in the occupancy grid. I changed the resolution from 0.1 to 0.5. But after this, my exploration algorithm fails at first step only. Any idea why this is happening? I ...
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How can I estimate the coverage performed by an algorithm while exploring an unknown map

Hi, I am using the nav2d exploration package to explore an unknown environment. I am using various strategies like NearestFrontier and MinPos Planner. Is there a way through which I can estimate the ...
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Is there a way I can force the robots to be already localized?

I want the robots to be already localized when I start the program. Is there any way for this, so that I do not have to move the robot manually and localize it? I have two robots and in order to ...
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Changes in RobotNavigator.cpp have no effect

Hi, I am seeing a strange effect that even though I removed some comments from RobotNavigator.cpp file in nav2s_navigator package. When I run it, I can still see the same log messages in rqt_console ...
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Unable to load plugins; ClassLoader error

I have created a plugin to test some changes that I will make in the exploration algorithm later. But, I am unable to load the plugins which I created. When I run my launch file, it calls for this ...
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Unable to move the second robot using nav2d exploration

Hi, I am trying to explore an area autonomously using multiple robots. I have created a launch file which looks like below: ...
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nav2d autonomouse exploration

Hi, I installed and tried nav2d navigation package exploration feature, with a real robot setup (kobuki base, urg-04lx) as per ros wiki instructions. i modified the tutorial3 launch and param files, ...
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