http://gicl.cs.drexel.edu/wiki-data/index.php?title=Navigation&feed=atom&action=history 2013-06-19T05:40:50Z Revision history for this page on the wiki MediaWiki 1.18.2 http://gicl.cs.drexel.edu/wiki-data/index.php?title=Navigation&diff=179071&oldid=prev 2012-04-29T18:19:02Z

<p>Created page with &quot; == 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 th...&quot;</p> <p><b>New page</b></p><div><br /> == Navigation ==<br /> 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.<br /> === Localization/Pose ===<br /> * http://answers.ros.org/question/12663/gps-navigation<br /> * http://ros.org/wiki/robot_pose_ekf<br /> <br /> It looks like for the pose we need to use robot_pose_ekf to:<br /> * Merge sensor data from the GPS and P2OS interface.<br /> * Apply the EKF filter to this data.<br /> * Publish the information on the message bus for the nav stack to use.<br /> <br /> TODO<br /> We need to get this working to have the robot pose: http://ros.org/wiki/urdf/Tutorials/Using%20urdf%20with%20robot_state_publisher<br /> * Do http://ros.org/wiki/navigation/Tutorials/RobotSetup step-by-step.<br /> <br /> !! - Updated April 19th<br /> <br /> * http://ros.org/wiki/ROS/Higher-Level%20Concepts<br /> * http://ros.org/wiki/tf<br /> * http://www.ros.org/wiki/stage<br /> * http://www.ros.org/wiki/base_local_planner<br /> * http://ros.org/wiki/navigation<br /> * http://ros.org/wiki/robot_pose_ekf/Tutorials/AddingGpsSensor<br /> * http://ros.org/wiki/robot_pose_ekf<br /> * http://ros.org/wiki/amcl<br /> * http://ros.org/wiki/tf/Tutorials/Introduction%20to%20tf<br /> * http://www.ros.org/doc/api/nav_msgs/html/msg/Odometry.html<br /> * http://www.ros.org/doc/api/sensor_msgs/html/msg/Imu.html<br /> * http://www.ros.org/wiki/navigation/Tutorials/RobotSetup<br /> <br /> == Point Cloud Library ==<br /> * http://www.pointclouds.org<br /> * http://www.ros.org/wiki/pcl<br /> == SLAM, tf, Navigation ==<br /> * This diagram is important http://www.ros.org/wiki/navigation/Tutorials/RobotSetup?action=AttachFile&amp;do=get&amp;target=overview_tf.png.<br /> * Currently we don't think we have any sensor transforms.<br /> * tf references a &quot;world frame&quot; -- is this our map?</div>

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