<> <> == Overview == This package contains launch files for the [[move_base]] and [[gmapping]] nodes meant to be run in an application that requires SLAM-based global navigation. == Applications == * '''`launch/2dnav_ros_tr.launch`''': Starts global navigation with the trajectory rollout local planner and SLAM. * '''`launch/2dnav_ros_dwa.launch`''': Starts global navigation with the DWA local planner and SLAM. * '''`launch/2dnav_linear.launch`''': Starts global navigation with the simple linear navigation [[cob_linear_nav]] and SLAM. Furthermore it holds a launch file for the internal SLAM algorithm of Fraunhofer IPA. * '''`launch/2dnav_ipa.launch`''': Starts global navigation with the IPA navigation and SLAM algorithm. == NOTE == When you run `2dnav_ros_tr.launch` or `2dnav_ros_dwa.launch`, the robot might start with the '''rotating recovery behaviour''' after the first goal has been sent to the 'move_base_simple/goal' topic. This is probably due to the robot standing in mainly unknown space. Please make sure, that this can happen without running into obstacles or persons. ## AUTOGENERATED DON'T DELETE ## CategoryPackage