| Note: This tutorial assumes that you have completed the previous tutorials:Using package roch_navigation, move_base, map_server and amcl.. |
 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. |
Setup the Navigation Stack for Roch
Description: Setup the Navigation Stack for Roch.Tutorial Level: BEGINNER
Next Tutorial: Using package of roch_teleop
Contents
This tutorial does not discuss too many thing in roch_navigation because it is a huge task to analysis each part of roch_navigation.
For this tutorial, we just discuss how to configure you own Roch for navigation, we will talk about some files and parameters for adjust your map building and navigation.
Move base
To find more details, please see move_base, and now we just talk about some files important in navigation.
Costmap Files
There have three costmap files such as *_costmap_common_prarms.yaml, *_global_costmap_params.yaml and *_local_costmap_params.yaml.
For more detail about these three files, please costmap_2d.
Planner
There have two planner such as global planner and local planner, but there is four files, base_local_planner_params.yaml and dwa_local_planner_params.yaml is beyond to local planner, and global_planner_params.yaml and navfn_global_planner_params.yaml is beyond to global planner.
note:daw_local_planner_params.yaml is used by 3D camera, and base_local_planner_params.yaml is used by 2d laser.
- Using 2d laser:
If you want to change robot speed or other, see base_local_planner.
- Using 3d camera:
If you want to change robot speed or other, see dwa_local_planner.
For global planner, just choose default.
AMCL
Roch localization is provided by amcl. You can change parameters in *_amcl.launch file in roch_navigation/launch/include folder.
* matching current sensors which you used.
Gmapping
Roch map build used gmapping. You can change parameters in *_gmapping.launch file in roch_navigation/launch/includes folder.
* matching current sensors which you used.
