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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

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

http://www.enovarobotics.eu/Wiki/images/c/ca/Screenshot_from_2015-05-06_14_52_47.png

Figure 2 : Select a 2D pose estimate

http://www.enovarobotics.eu/Wiki/images/7/78/Screenshot_from_2015-05-06_14_53_02.png

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

Figure 3 : Select a 2D pose goal

http://www.enovarobotics.eu/Wiki/images/8/8d/Screenshot_from_2015-05-06_14_54_03.png

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

Figure 4 : Path found in Rviz

http://www.enovarobotics.eu/Wiki/images/0/06/Screenshot_from_2015-05-06_14_54_11.png

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

http://www.enovarobotics.eu/Wiki/images/a/ab/Screenshot_from_2015-05-06_14_54_22.png

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.


2020-08-08 12:18