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.