| Note: This tutorial assumes that you have completed the previous tutorials: Mapping with Robotino. |
 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Navigation with Robotino
Description: Autonomous navigation of a known map with RobotinoTutorial Level: BEGINNER
Contents
Prerequisite
This tutorial requires a previously built map of the environment you would like Robotino to navigate itself on. In case you haven't done so, please complete the Mapping with Robotino tutorial and head back here.
Process
Launch robotino_node
If the robotino_node hasn't been launched already, then launch it as follows:
roslaunch robotino_node robotino_node.launch
Launch navigation
Launch navigation.launch and also set the map_file parameter pointing to the yaml file of the map you created in the previous tutorial.
roslaunch robotino_navigation navigation.launch map_file:=/tmp/mymap.yaml
This should bring up rviz as well.
Localize Robotino
As you may note from rviz that Robotino is not localized. You can localize it as follows:
- Click the "2D Pose Estimate" button
- Click on the map where you think Robotino should be and drag the arrow in the direction Robotino is pointing to.
Repeat this procedure until you are satisfied with Robotino's location on the map.
Autonomous Navigation
Robotino is now ready for autonomous navigation. To perfom this, follow these steps:
- Click the "2D Nav Goal"
- Click on the map where you want Robotino to navigate and drag in the direction Robotino should be pointing at the end.
Path planning might fail if the path or goal is blocked. An example of navigation on our map:
