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Note: This tutorial assumes that you have completed the previous tutorials: cob_tutorials/Tutorials/Startup simulation.
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Using local navigation (navigation in the odometry frame)

Description: This tutorial shows you how to move the mobile base avoiding collisions and specifying navigation goals in the odometry frame.

Tutorial Level: BEGINNER

Next Tutorial: cob_tutorials/Tutorials/Navigation (slam)

Prerequisites

Startup simulation with robot.

Local navigation

Start cob_navigation_local navigation

roslaunch cob_navigation_local 2dnav_ros_dwa.launch robot:=cob4-3

Start rviz visualisation

roslaunch cob_navigation_local rviz.launch

cob_tutorials/Tutorials/RvizLocal.png

Use the "2D Nav Goal" button in rviz to specify a navigation goal and watch the robot moving. The robot should move towards your specified target pose avoiding obstacles which could be in the way. Detected obstacles will be highlighted in red and an inflated safety radius in blue. Try to


2019-10-19 12:36