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Package Summary
This package holds config and launch files for running the move_base node on the Care-O-Bot in an odometric frame. No static map is needed for the move_base node in this configuration.
- Author: Matthias Gruhler
- License: LGPL
- Source: git https://github.com/ipa320/cob_navigation.git (branch: release_electric)
Overview
This package contains launch and configuration files for the move_base node meant to be run in an application that requires navigation in an odometric frame.
Applications
launch/2dnav_ros_tr.launch: Starts local navigation with the trajectory rollout local planner.
launch/2dnav_ros_dwa.launch: Starts local navigation with the dynamic window approach local planner.
Building Blocks
launch/2dnav_ros_tr.xml: Holds a Care-O-bot specific configuration of the move_base node designed for navigation without a map in an odometric frame. It uses the trajectory rollout local planner.
launch/2dnav_ros_dwa.xml: Holds a Care-O-bot specific configuration of the move_base node designed for navigation without a map in an odometric frame. It uses the trajectory dynamic window approach.
Configuration Files
config/global_costmap_params.yaml: Holds parameters for the global costmap used in the 2dnav_ros_tr.xml and 2dnav_ros_dwa.xml configuration files. This is the costmap used by the global planner and, in this case, operates in an odometric frame.
config/local_costmap_params.yaml: Holds parameters for the local costmap used in the 2dnav_ros_tr.xml and 2dnav_ros_dwa.xml configuration file. This is the costmap used by the local planner, and operates in an odometric frame.