Navigation

Path Planning

Global Planner

Why we're using SBPL

Navigating around the RMC arena requires us to be able to drive to goals facing both forwards and backwards. The standard ROS Navigation planner does not support going backwards. So, we found a planner that supports arbitrary motion primitives called SBPL. Here's a good presentation on it. Their GitHub page is here.

Costmap setup

The hidden costmap_2d link

So ofcourse you can google costmap_2d and you will get the general page, but it doesnt have further explanations like this one does (thats not easy to find). http://wiki.ros.org/costmap_2d/hydro

Static map setup

http://answers.ros.org/question/200603/is-it-possible-to-use-a-pre-built-map/ http://wiki.ros.org/map_server