I have a small, custom robot. I'm trying to learn the ROS navigation stack in this order:
1. Set up my robot to move by teleoperation and publish odometry. (DONE)
2. Use move_base to drive to a goal position (/move_base_simple/goal) assuming no obstacles and using no sensors.
3. Add sensors and obstacle avoidance with no a priori map.
4. Use gmapping to generate a map.
I'm stuck on #2 right now. I've tried to use a global configuration that has "rolling_window: true" and "static_map: false", as suggested, but move_base seems to go into recovery modes right away. (Local configuration is similar.) Can someone point me to an example of using move_base with neither a static map nor sensors? Or tell me how to figure out why a recovery mode is being triggered?
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