| Note: This tutorial assumes that you have completed the previous tutorials: cob_tutorials/Tutorials/Startup simulation. |
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Using local navigation (navigation in the odometry frame)
Description: This tutorial shows you how to move the mobile base avoiding collisions and specifying navigation goals in the odometry frame.Tutorial Level: BEGINNER
Next Tutorial: cob_tutorials/Tutorials/Navigation (slam)
Contents
Prerequisites
Startup simulation with robot.
Local navigation
Start cob_navigation_local navigation
roslaunch cob_navigation_local 2dnav_ros_dwa.launch robot:=cob4-3
Start rviz visualisation
roslaunch cob_navigation_local rviz.launch
Use the "2D Nav Goal" button in rviz to specify a navigation goal and watch the robot moving. The robot should move towards your specified target pose avoiding obstacles which could be in the way. Detected obstacles will be highlighted in red and an inflated safety radius in blue. Try to
- move the robot into a corner using the laser scanners as a reference
- move the robot in front of the coffee machine
- move the robot out of the room (you will see that the robot can only plan to a target pose which is in the range of the costmap, so you will have to specify some intermediate goals)
