Overview

This example shows how to launch move_base, a navigation node.

All examples are independent. Please be aware that your previous demonstration has to be stopped before starting a new one

Navigation in a simulated environment

The navigation routine allows to move the robot to a specific point in the map taking into consideration the obstacles. The following instruction launches the navigation demo for Mini-Lab:

$ roslaunch minilab_demo_simulation minilab_demo_navigation.launch

STEP 1 : Use the 2D pose Estimate Button to correct the position of the robot.

Figure 1 : Robot lost

Figure 2 : Select a 2D pose estimate

STEP 2 : To move to a specific point use the 2D Nav Goal Button.

Figure 3 : Select a 2D pose goal

STEP 3 : Mini-Lab should start to move, following the path found

Figure 4 : Path found in Rviz

Figure 5 : The robot model in Gazebo should follow the same path as in Rviz.

IMPORTANT :

CTRL+C in your terminal to stop this example.

All demonstrations are independent, you have to stop this demonstration before starting a new one.