Hello!
I'm using [create_autonomy](http://wiki.ros.org/create_autonomy) driver for my roomba 400 on kinetic, and I want to set up the navigation stack (especially move_base to send goals to the robot and navigate in rviz). The ca_driver running on Raspberry, the gmapping, map server on the PC.
I'm following the [navigation stack tutorial](http://wiki.ros.org/navigation/Tutorials/RobotSetup), and as described in it, first, I need to create a package with the following dependencies:
catkin_create_pkg my_robot_name_2dnav move_base my_tf_configuration_dep my_odom_configuration_dep my_sensor_configuration_dep
How should I need to fill up the dependencies on which device (RPI or PC) once the ca_driver itself publish a /tf and a /odom topic when I starting it with the following launch:
roslaunch ca_driver roomba_400.launch
Maybe if anyone successfully deployed the navigation stack, can send me a sample/example launch file or project?
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