Navigation

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Navigation

There are two major parts to getting Navigation setup/working. First we have to setup the robot, and the ROS software to publish the needed information on the ROS message bus. Then we have to setup the navigation package to interact with these messages.

Localization/Pose

It looks like for the pose we need to use robot_pose_ekf to:

  • Merge sensor data from the GPS and P2OS interface.
  • Apply the EKF filter to this data.
  • Publish the information on the message bus for the nav stack to use.

TODO We need to get this working to have the robot pose: http://ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher

!! - Updated April 19th

Point Cloud Library

SLAM, tf, Navigation