Planning and navigation
The following page covers how to run planning and navigation algorithms with both the simulator (Gazebo) and the real robot.
These two architectures are in charge of receiving velocity commands and orchestrate the planners and robot information to generate collision-free and smooth trajectories to the goal.
move_base runs automatically so you only need to send goals and the robot will try to reach them.
export LOCALIZATION=amcl
export RVIZ=true
export LASER=rplidar
roslaunch ca_gazebo create_house.launch
# Send a goal with move_base
# Specify the pose (x, y, yaw)
roslaunch ca_move_base send_goal.launch x:=0 y:=0 Y:=0Using RViz, test that the robot can navigate when sending a goal to create1/move_base_simple/goal.
export LOCALIZATION=amcl
export RVIZ=true
export LASER=rplidar
export NAVIGATION=mbf
roslaunch ca_gazebo create_house.launchIn order to select planners you have several options:
export GLOBAL_PLANNER=navfn
export LOCAL_PLANNER=dwa- Dynamic-Window Approach (DWA)
- Timed Elastic Band (TEB)
- Trajectory Rollout
Our control system is based on Kobuki's.
More information can be found here.