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How to Map and Use Map for Autonomous Navigation

The following is a walkthrough for how to map a space and later use that map for autonomous navigation.

  1. Map a space

Using 2D SLAM for example, map a space by first powering on the robot and bringing up its hardware. Its odometry, sensors, and control systems should be online.

Open Rviz, set the global frame to map, and visualize the laser scanner and robot model.

Run SLAM Toolbox via the command below and wait for a map to appear in rviz (a couple of moments):

ros2 launch honeybee_nav2 slam_toolbox.launch.py

Drive the robot around with the joystick until a map is obtained. Optionally: launch nav2.launch.py slam:=True localization_type:=2D to be able to use Nav2 to autonomously navigate to positions while mapping.

  1. Save map

Use the provided scripts/save_map script to save a map to your ~/experiment_files directory.

  1. Launch navigation using map

Finally, this map can be used for navigation via

ros2 launch honeybee_nav2 nav2.launch.py map:=/home/administrator/experiment_files/map_XXX.yaml localization_type:=2D slam:=False

This should bring up Nav2, AMCL. Set the initial robot estimate in Rviz (or program using /initialpose topic) to roughly localize the robot. Then, start navigating!