Navigation Tuning
From wikidb
References
- Navigation Tuning Guide
- ROS Navigation Tuning Guide by Kaiyu Zheng student at University of Washington.
Removing Warning Messages
meter_scoring
[ WARN] [1478392084.188946161]: Trajectory Rollout planner initialized with param meter_scoring not set. Set it to true to make your settins robust against changes of costmap resolution.
Add the following to base_local_planner_params.yaml.
meter_scoring: true
Odometry (1.2)
Run
Terminal 1
roscore
Terminal 2
roslaunch floor_hugger keyboard_teleop.launch
Terminal 3
roslaunch floor_hugger active_mapping.launch
Used "d" to rotate the Floor Hugger slowly clockwise. The following is after four or more rotations. Edges look well defined.
