Overview
This package contains launch and configuration files for the move_base and amcl nodes meant to be run in an application that requires global navigation with a pre-specified static map.
Applications
launch/2dnav_linear.launch: Starts global navigation using the simple linear navigation of cob_linear_nav.
launch/2dnav_ros_dwa.launch: Starts global navigation using the move_base node of the navigation stack with the Dynamic Window local path planning.
launch/2dnav_ros_tr.launch: Starts global navigation using the move_base node of the navigation stack with the Trajectory Rollout local path planning.
Furthermore it holds two launch files for internal navigation packages of Fraunhofer IPA.
launch/2dnav_ipa.launch: Starts global navigation using the IPA Navigation.
launch/2dnav_ipa_extloc.launch: Starts global navigation using the IPA Navigation with external localization.
Building Blocks
launch/2dnav_linear.xml: Holds a Care-O-bot specific configuration of the cob_linear_nav node. Designed to be included by applications that wish to run linear navigation on the Care-O-bot.
launch/2dnav_ros_dwa.xml: Holds a Care-O-bot specific configuration of the move_base node with the dynamic window approach. Designed to be included by applications that wish to run global navigation with DWA on the Care-O-bot.
launch/2dnav_ros_tr.xml: Holds a Care-O-bot specific configuration of the move_base node with the trajectory rollout approach. Designed to be included by applications that wish to run global navigation with TR on the Care-O-bot.
launch/amcl_node.xml: Holds a Care-O-bot specific configuration of the amcl node. Designed to be included by applications that wish to run amcl on the Care-O-bot. Assumes a map is available from an instance of the map_server node.
Configuration Files
config/global_costmap_params.yaml: Holds parameters for the global costmap used in the 2dnav_ros_dwa.xml and 2dnav_ros_tr.xml building blocks. This is the costmap used by the navfn planner, and in this case, is initialized by a static map offered by an instance of the map_server node.
config/local_costmap_params.yaml: Holds parameters for the local costmap used in the 2dnav_ros_dwa.xml and 2dnav_ros_tr.xml building blocks. This is the costmap used by the specific local planner, which operates in an odometric frame.