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If you already use OctoMap for a 3D map, then you could also have a look at the humanoid_localization package. You could obtain more accurate estimates since you already use a 3D sensor (and throw information away by converting it to a fake laser scan).

Using the footstep_planner is a good starting point. You should be aware, however, that you will get sub-optimal results if you rely on navfn as a global planner, instead of just using the footstep planner. It will avoid obstacles, while there could be footsteps over / across them. Depending on your robot, this could not be a problem however.

In general I found the ROS nav stack not really suited for a walking humanoid and too complicated to set up, there were too many things that didn't work.