Configuring and Using the Navigation Stack

  1. tf を用いたロボットのセットアップ

    このチュートリアルでは tf を使ってロボットをセットアップする方法を学びます.

  2. Publishing Odometry Information over ROS

    This tutorial provides an example of publishing odometry information for the navigation stack. It covers both publishing the nav_msgs/Odometry message over ROS, and a transform from a "odom" coordinate frame to a "base_link" coordinate frame over tf.

  3. Basic Navigation Tuning Guide

    This guide seeks to give some standard advice on how to tune the ROS Navigation Stack on a robot. This guide is in no way comprehensive, but should give some insight into the process. I'd also encourage folks to make sure they've read the ROS Navigation Tutorial before this post as it gives a good overview on setting the navigation stack up on a robot wheras this guide just gives advice on the process.

  4. Publishing Sensor Streams Over ROS

    This tutorial provides examples of sending two types of sensor streams, sensor_msgs/LaserScan messages and sensor_msgs/PointCloud messages over ROS.

  5. Sending Goals to the Navigation Stack

    The Navigation Stack serves to drive a mobile base from one location to another while safely avoiding obstacles. Often, the robot is tasked to move to a goal location using a pre-existing tool such as rviz in conjunction with a map. For example, to tell the robot to go to a particular office, a user could click on the location of the office in a map and the robot would attempt to go there. However, it is also important to be able to send the robot goals to move to a particular location using code, much like rviz does under the hood. For example, code to plug the robot in might first detect the outlet, then tell the robot to drive to a location a foot away from the wall, and then attempt to insert the plug into the outlet using the arm. The goal of this tutorial is to provide an example of sending the navigation stack a simple goal from user code.

  6. ロボットに固有なNavigationスタックのセットアップと環境設定

    このチュートリアルはロボットをNavigationスタックで動作させるためのステップ・バイ・ステップなインストラクションです。このチュートリアルは以下の内容を含みます。: tfを使ったtransform送信, オドメトリ情報のパブリッシュ, ROSを介してレーザから取得したセンサデータのパブリッシュ, Navigationスタックの基本的な環境設定

  7. Using rviz with the Navigation Stack

    This tutorial provides a guide to using rviz with the navigation stack to initialize the localization system, send goals to the robot, and view the many visualizations that the navigation stack publishes over ROS.

To use navigation stack with stage, check the navigation_stage package.

Robot Specific Configurations

This section contains information on configuring particular robots with the navigation stack. Please help us by adding information on your robots.


The erratic_navigation package contains configuration and launch files for running the navigation stack on Erratic robot. The erratic_navigation_apps package contains example launch files that will start the navigation stack in three different configurations:

  • navigation with existing static map
  • navigation with SLAM for building a map of the area
  • navigation in local odometric frame without a map and localization:

The erratic_teleop package contains a keyboard teleoperation node for driving the robot (e.g. while in SLAM mode).



iRobot Create


Create a new tutorial:

Wiki: ja/navigation/Tutorials (last edited 2013-05-05 19:09:52 by EisokuKuroiwa)