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Note: This tutorial assumes that you have completed the previous tutorials: cob_tutorials/Tutorials/Startup simulation, cob_tutorials/Tutorials/Navigation (local).
(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Using global navigation (navigation with a predefined map)

Description: This tutorial shows you how to create a map and use it for moving the mobile base avoiding collisions and specifying navigation goals in the map frame.

Tutorial Level: BEGINNER

Next Tutorial: cob_tutorials/Tutorials/Task coordination (explore)


Startup simulation with robot.

We will need a predefined map. You can get the map

Make sure you copy both map.pgm and map.yaml to your current directory.

Start cob_navigation_global navigation

roslaunch cob_navigation_global 2dnav_ros_dwa.launch robot:=cob4-3 map:=$(pwd)/map.yaml

if you couldn't create your own map, use a predefined one with

roslaunch cob_navigation_global 2dnav_ros_dwa.launch robot:=cob4-2 robot_env:=ipa-apartment

Start rviz visualisation

roslaunch cob_navigation_global rviz.launch


Localise the robot with giving it an estimated starting pose using the "2D Pose Estimate" button.

Use the "2D Nav Goal" button in rviz to specify a navigation goal and watch the robot moving while avoiding obstacles. Try to

2019-08-17 12:37