DTUSDC ROS NAVIGATION

Welcome to DTUSDC's Navigation

This document will give you a brief description about the navigation capabilities of our Bot

move_base node is the main compoment of ros/navstack

Navstack RosWiki

The main algorithm we are using is gmapping for simultaneous localisation and mapping

Gmapping RosWiki

Local,Global Costmap and Move Base are configured with the parameters

2D Costmap RosWiki

Global planner and Local planner are used for pathplanning

Global Planner RosWiki

Local Planner RosWiki

Navigation is done with help of ROS Navigation Stack

Folder Structure

• launch This folder contains all our launch files from launching gmapping and move base node
• param This folder contains the YAML files for configuring our navigation stack

Running Navigation

Load up Rviz/Gazebo:

The following command will load the simulation along with the robot mesh:

roslaunch simulation simulation.launch

Launch the navstack

roslaunch navigation navigation.launch

Giving the Goal

In Rviz click the 2d nav Goal to give bot a new location