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Package Summary
This package provides launch files for running Care-O-bot with the gmapping slam package of ROS. It further provides the usual navigation functionalities as provided by the move_base node.
- Author: Florian Weisshardt
- License: LGPL
- Source: git https://github.com/ipa320/cob_navigation.git (branch: groovy)
Contents
Overview
This package contains launch files for the move_base and gmapping nodes meant to be run in an application that requires SLAM-based global navigation.
Applications
launch/2dnav_ros_tr.launch: Starts global navigation with the trajectory rollout local planner and SLAM.
launch/2dnav_ros_dwa.launch: Starts global navigation with the DWA local planner and SLAM.
launch/2dnav_linear.launch: Starts global navigation with the simple linear navigation cob_linear_nav and SLAM.
Furthermore it holds a launch file for the internal SLAM algorithm of Fraunhofer IPA.
launch/2dnav_ipa.launch: Starts global navigation with the IPA navigation and SLAM algorithm.
NOTE
When you run 2dnav_ros_tr.launch or 2dnav_ros_dwa.launch, the robot might start with the rotating recovery behaviour after the first goal has been sent to the 'move_base_simple/goal' topic. This is probably due to the robot standing in mainly unknown space. Please make sure, that this can happen without running into obstacles or persons.