Autonomously navigate in a known map

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$ cd ~/catkin/src/robocup_nav_tutorial/launch

modify the launch file named navigation.launch, change the path with your map path

<arg name="map_file" default="/home/usrname/catkin_ws/src/robocup_nav_tutorial/launch/maps/your_map_name.yaml" /> 

After change your path, open new terminal

$ roscore 

Bringup your robot

$ roslaunch robot_bringup start_turtle.launch

open a new terminal

$ roslaunch robocup_nav_tutorial navigation.launch

use 2D Pose Estimate in your rviz to initialize your robot's start point, use 2D Nav Goal to set a goal point, then your root will navigation to the goal point