## For instruction on writing tutorials
## http://www.ros.org/wiki/WritingTutorials
####################################
##FILL ME IN
####################################
## for a custom note with links:
## note = This tutorial assumes that you have completed the previous tutorials:[[roch/Tutorials/Using package of roch_navigation|Using package roch_navigation]], [[move_base]], [[map_server]] and [[amcl]].
## for the canned note of "This tutorial assumes that you have completed the previous tutorials:" just add the links
## note.0=
## descriptive title for the tutorial
## title = Setup the Navigation Stack for Roch
## multi-line description to be displayed in search
## description = Setup the Navigation Stack for Roch. 
## the next tutorial description (optional)
## next =
## links to next tutorial (optional)
## next.0.link=[[roch/Tutorials/Using package of roch_teleop|Using package of roch_teleop]]
## next.1.link=
## what level user is this tutorial for
## level= BeginnerCategory
## keywords =
####################################

<<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

<<TableOfContents(4)>>
This tutorial does not discuss too many thing in roch_navigation because it is a huge task to analysis each part of [[roch_navigation]].

For this tutorial, we just discuss how to configure you own Roch for navigation, we will talk about some files and parameters for adjust your map building and navigation.

== Move base ==

To find more details, please see [[move_base]], and now we just talk about some files important in navigation.

=== Costmap Files ===

There have three costmap files such as ''*_costmap_common_prarms.yaml'', ''*_global_costmap_params.yaml'' and ''*_local_costmap_params.yaml''.

For more detail about these three files, please [[costmap_2d]].

=== Planner ===

There have two planner such as global planner and local planner, but there is four files, ''base_local_planner_params.yaml'' and ''dwa_local_planner_params.yaml'' is beyond to local planner, and ''global_planner_params.yaml'' and ''navfn_global_planner_params.yaml'' is beyond to global planner.

'''note''':''daw_local_planner_params.yaml'' is used by 3D camera, and ''base_local_planner_params.yaml'' is used by 2d laser.

 * Using 2d laser:
  * If you want to change robot speed or other, see [[base_local_planner]].

 * Using 3d camera:
  * If you want to change robot speed or other, see [[dwa_local_planner]].

For global planner, just choose default.

== AMCL ==
Roch localization is provided by [[amcl]]. You can change parameters in *_amcl.launch file in roch_navigation/launch/include folder.

''*'' matching current sensors which you used.

== Gmapping ==
Roch map build used [[gmapping]]. You can change parameters in *_gmapping.launch file in roch_navigation/launch/includes folder.

''*'' matching current sensors which you used.
## AUTOGENERATED DO NOT DELETE
## TutorialCategory
## FILL IN THE STACK TUTORIAL CATEGORY HERE