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aero_move_base

AeroBaseControllerNode

This node is for Vehicle-type lower body, and be automatically added generated_controllers.launch. aero_bringup.launch will run this.

To use this, put AeroBaseController.cc on robot's description directoly and define AeroMoveBase::Init and AeroMoveBase::VelocityToWheel.

Following files are sources of this Node;

  • Main.cc
  • AeroBaseController.cc (Auto Generated)
  • AeroMoveBase.{cc,hh}

Move on Rviz without real robot

roslaunch aero_startup wheel_with_dummy.launch

Navigation

Mapping

roslaunch aero_startup wheel_with_making_map.launch

After making map, you should run roslaunch aero_startup map_saver.launch to save map.

Navigation

roslaunch aero_startup wheel_with_static_map.launch

Local Planner Setting

You can choose base local planner from TrajectoryPlannerROS, DWAPlannerROS, EBandPlannerROS, TebLocalPlannerROS. (TrajectoryPlannerROS and DWAPlannerROS are not supported, now.) Default planner is TebLocalPlannerROS, described in move_base.launch.

Features are as follows:

  • teb_local_planner/TebLocalPlannerROS
    to avoid collision with people and when moving long distances, default settings do not allow moving sideways (this avoids the robot from moving diagonally in a straight path)

  • eband_local_planner/EEBandPlannerROS
    to move sideways, if your robot is moving in a small area or is using the base to make small adjustments during manipulation

For more information,

please refer the Documentation of the ROS navigation stack.

http://wiki.ros.org/navigation