<> <> == Overview == This package contains launch and configuration files for the [[move_base]] and [[amcl]] nodes meant to be run in an application that requires global navigation with a pre-specified static map. == Applications == * '''`launch/2dnav_linear.launch`''': Starts global navigation using the simple linear navigation of [[cob_linear_nav]]. * '''`launch/2dnav_ros_dwa.launch`''': Starts global navigation using the [[move_base]] node of the [[navigation]] stack with the [[dwa_local_planner|Dynamic Window local path planning]]. * '''`launch/2dnav_ros_tr.launch`''': Starts global navigation using the [[move_base]] node of the [[navigation]] stack with the [[base_local_planner|Trajectory Rollout local path planning]]. Furthermore it holds two launch files for internal navigation packages of Fraunhofer IPA. * '''`launch/2dnav_ipa.launch`''': Starts global navigation using the IPA Navigation. * '''`launch/2dnav_ipa_extloc.launch`''': Starts global navigation using the IPA Navigation with external localization. == Building Blocks == * '''`launch/2dnav_linear.xml`''': Holds a Care-O-bot specific configuration of the [[cob_linear_nav]] node. Designed to be included by applications that wish to run linear navigation on the Care-O-bot. * '''`launch/2dnav_ros_dwa.xml`''': Holds a Care-O-bot specific configuration of the [[move_base]] node with the dynamic window approach. Designed to be included by applications that wish to run global navigation with DWA on the Care-O-bot. * '''`launch/2dnav_ros_tr.xml`''': Holds a Care-O-bot specific configuration of the [[move_base]] node with the trajectory rollout approach. Designed to be included by applications that wish to run global navigation with TR on the Care-O-bot. * '''`launch/amcl_node.xml`''': Holds a Care-O-bot specific configuration of the [[amcl]] node. Designed to be included by applications that wish to run [[amcl]] on the Care-O-bot. Assumes a map is available from an instance of the [[map_server]] node. == Configuration Files == * '''`config/global_costmap_params.yaml`''': Holds parameters for the global [[costmap_2d | costmap]] used in the `2dnav_ros_dwa.xml` and `2dnav_ros_tr.xml` building blocks. This is the costmap used by the [[navfn]] planner, and in this case, is initialized by a static map offered by an instance of the [[map_server]] node. * '''`config/local_costmap_params.yaml`''': Holds parameters for the local [[costmap_2d | costmap]] used in the `2dnav_ros_dwa.xml` and `2dnav_ros_tr.xml` building blocks. This is the costmap used by the specific local planner, which operates in an odometric frame. ## AUTOGENERATED DON'T DELETE ## CategoryPackage