Note: This tutorial assumes that you have completed the previous tutorials: cob_tutorials/Tutorials/Startup simulation, cob_tutorials/Tutorials/Navigation (local).
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Using global navigation (navigation with a predefined map)

Description: This tutorial shows you how to create a map and use it for moving the mobile base avoiding collisions and specifying navigation goals in the map frame.

Tutorial Level: BEGINNER

Next Tutorial: cob_tutorials/Tutorials/Task coordination (explore)


Startup simulation with robot.

We will need a predefined map. You can get the map

Make sure you copy both map.pgm and map.yaml to your current directory.

Start cob_navigation_global navigation

roslaunch cob_navigation_global 2dnav_ros_dwa.launch robot:=cob4-<your robot> map:=<path to your map.yaml>

if you couldn't create your own map, use a predefined one with

roslaunch cob_navigation_global 2dnav_ros_dwa.launch robot:=cob4-2 robot_env:=ipa-apartment

Start rviz visualisation

roslaunch cob_navigation_global rviz.launch


Localise the robot with giving it an estimated starting pose using the "2D Pose Estimate" button.

Use the "2D Nav Goal" button in rviz to specify a navigation goal and watch the robot moving while avoiding obstacles. Try to

  • move the robot around in the room
  • move the robot directly into another room crossing doors

Wiki: cob_tutorials/Tutorials/Navigation (global) (last edited 2019-09-24 10:24:05 by HannesBachter)