![]() ![]() It has been a long time since I last worked on this. Here's the link to the project I was using this on. Your drive by wire system will probably take care of the rest. Once you have successfully localized on this map, you can send move_base goals and the planner with plan the path. This package provides an implementation of a 2D costmap that takes in sensor data from the world, builds a 2D or 3D occupancy grid of the data (depending on whether a voxel based implementation is used), and inflates costs in a 2D costmap based on the occupancy grid and a user specified inflation radius. Usually there's the global costmap (based on this static map you have saved and provided), and there's the local costmap (which contains new obstacles and dynamic obstacles). (as long as the topic names are correct, and you have the correct configuration). Also, maybe the tutorial on mapping might help you? ( ).Īssuming you have done mapping and the image above is the static map, for autonomous navigation, I believe you need to use map_server to load the maps, and move_base will generate the costmaps based on this static map provided by the map server. Please see ROS's official tutorial and launch file example for how to use move_base. As a developer, using move_base properly will simplify your workflow, you don't have to worry about the details of costmaps or spend time implementing A* search. It calls on planners, costmaps, and other components. On a high level, move_base is the heart of the generic ROS navigation stack. I used the move_base node that comes with ROS. Hey for my application, I needed to generate costmaps for the navigation stack, using stereo cameras and lidars.
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