rover_navigation¶
rover_navigation
is our implementation / configuration of a move_base stack.
config
¶
The config folder contains all of the yaml configuration for move_base
. There are three files in it.
planner.yaml
¶
planner.yaml
contains all of the configuration for the planners (global and local). For documentation on what the parameters in it mean,
see the docs for base_local_planner
and navfn
.
local_costmap.yaml
and global_costmap.yaml
¶
These files contain the configuration for the local and global costmaps respectively. The documentation for them is in the costmap_2d package.
Internal Launch Files¶
Although the usage documentation only details one launch file, there are a lot of internal ones with more parametrization.
move_base.launch
¶
The move_base.launch
file contains the launch spec for starting move_base itself. It contains two useful parameters, located on lines 6 and 7:
This sets the base_(global/local)_planner
.
odometry.launch
¶
This is one of the most important files in the rover_navigation
package. It contains the sensor fusion configuration. For documentation
on how to configure it, see the documentation for robot_localization
.
visual_odom.launch
¶
This file contains the parameters (but right now mainly just remappings) for the rtabmap visual odometry.
rtabmap.launch
¶
This file contains the parameters for rtabmap’s main node. Add mapping parameters here.