The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
I figured gmapping creates a dynamic map so I invoked move_base like this:
<launch>
<node name="gmapping" pkg="gmapping" type="slam_gmapping" respawn="false" args="scan:=/scan _delta:=.1"/>
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" args="_controller_frequency:=60 /static_map:=/dynamic_map"/>
<node pkg="rviz" type="rviz" name="VISUALIZER"/>
</launch>
Here is a copy of my launch file I am using. The robot segway driver is running, and the laser is up and running. Robot driver TFs are functioning as well. Now the only question I have is can I invoke the "move_base/make_plan" service with gmapping as the source of my map?
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.