Under Construction

This package has not been released yet, but will be soon.

Package Summary

This package contains configuration files to control the base of amigo, that is make amigo move to a certain location.

Functional Description

The launch file base_navigation.launch starts two nodes. The first one loads a global map of everything the robot has seen so far and a local map based on the current sensor input. It then starts a motion planner for both maps. The second node starts the simultanious localization and mapping (slam) algorithm that translates the sensor input into a map and calculates amigo's location based on that.