Navigation Setup

References

• Move Base
• How to Use Simple Navigation Goals

Configuration Instructions

• Navigation Set-up Tutorial

Robot Configuration File (2.2)

See Navigation Set-up Tutorial section 2.2. This is done in the scan.launch file. See

• Floor Hugger Launch Scripts#Web_teleop_and_video_streaming

In floor_hugger/launch

• scan.launch

scan.launch is the the floor_hugger version on the turorial's my_robot_configuration.launch.

Costmap Configuration (2.3)

• 2D Costmap details.

Put the following yaml files in floor_hugger/nav/

See Navigation Set-up Tutorial section 2.3

• costmap_common_params.yaml
• local_costmap_params.yaml
• global_costmap_params.yaml

Planning Configuration (2.4)

• base_local_planner_params.yaml

Navigation Launch Script (2.5)

In floor_hugger/launch

• move_base.launch

Running Navigation (3.0)

Launch Script

• nav.launch

Run Prep

This may require that the LIDAR is connected and the USB hub is powered at system boot. This has not been tested.

 sudo chmod 666 /dev/ttyUSB0

Run

Terminal 1

 roscore

Terminal 2

 roslaunch nav.launch

Example Run Result

Measurement	x	y	w	result
Goal	2.96	-0.57	1.0
Final Odom	2.33	-0.49	1.00	0.63 m short of goal
Measured	2.5	-0.58		7 to 20% error

Cancel Navigation Command

 rostopic pub /move_base/cancel actionlib_msgs/GoalID -- {}

Tuning

• Navigation Troubleshooting
• Navigation Tuning Guide
• See Navigation Tuning

rqt_graph

rviz