<> == Overview == This package holds a number of common 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. It also contains navigation specific sensor configurations. In particular, it holds parameter settings for the [[base_local_planner]], [[costmap_2d]], and [[move_base]] components of the [[move_base]] node that are shared between many different configurations of the [[navigation]] stack run on the [[Robots/Maggie|Social Robot Maggie]]. == Building Blocks == * '''`launch/real/navigation_real.launch`''': * '''`launch/simulation/navigation_simulation.launch`''': * '''`launch/amcl.launch`''': holds a [[Robots/Maggie|Maggie robot]] specific configuration of the [[amcl]] node. Designed to be included by applications that wish to run [[amcl]] on the [[Robots/Maggie|Maggie robot]]. Assumes a map is available from an instance of the [[map_server]] node. * '''`launch/move_base.launch`''': holds a [[Robots/Maggie|Maggie robot]] specific configuration of the [[move_base]] node designed for navigation with a pre-specified static map. Should be run in conjunction with the [[amcl]] and [[map_server]] nodes. * '''`launch/laser/hokuyo.launch`''': ensures that the hokuyo laser is in the proper configuration for autonomous navigation. * '''`launch/laser/sick.launch`''': ensures that the sick laser is in the proper configuration for autonomous navigation, also brings up a number of filters that are applied to laser scans used while navigating. == Configuration Files == * '''`config/base_local_planner_params.yaml`''': holds parameters for the [[base_local_planner]] specific to global navigation on the [[Robots/Maggie|Social Robot Maggie]]. * '''`config/costmap_common_params.yaml`''': * '''`config/global_costmap_params.yaml`''': holds parameters for the global [[costmap_2d|costmap]] used in the `move_base.launch` configuration file. 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/initial_pose.yaml`''': * '''`config/local_costmap_params.yaml`''': holds parameters for the local [[costmap_2d|costmap]] used in the `move_base.launch` configuration file. This is the costmap used by the [[base_local_planner]] planner, which operates in an odometric frame. ## AUTOGENERATED DON'T DELETE ## CategoryPackage