<> <> == Overview == This package contains launch and configuration files for the [[move_base]] node meant to be run in an application that requires navigation in an odometric frame. == Applications == * '''`launch/2dnav_ros_tr.launch`''': Starts local navigation with the trajectory rollout local planner. * '''`launch/2dnav_ros_dwa.launch`''': Starts local navigation with the dynamic window approach local planner. == Building Blocks == * '''`launch/2dnav_ros_tr.xml`''': Holds a Care-O-bot specific configuration of the [[move_base]] node designed for navigation without a map in an odometric frame. It uses the trajectory rollout local planner. * '''`launch/2dnav_ros_dwa.xml`''': Holds a Care-O-bot specific configuration of the [[move_base]] node designed for navigation without a map in an odometric frame. It uses the trajectory dynamic window approach. == Configuration Files == * '''`config/global_costmap_params.yaml`''': Holds parameters for the global [[costmap_2d | costmap]] used in the `2dnav_ros_tr.xml` and `2dnav_ros_dwa.xml` configuration files. This is the [[costmap_2d | costmap]] used by the global planner and, in this case, operates in an odometric frame. * '''`config/local_costmap_params.yaml`''': Holds parameters for the local [[costmap_2d | costmap]] used in the `2dnav_ros_tr.xml` and `2dnav_ros_dwa.xml` configuration file. This is the [[costmap_2d | costmap]] used by the local planner, and operates in an odometric frame. ## AUTOGENERATED DON'T DELETE ## CategoryPackage