On Mon, Oct 18, 2010 at 9:09 AM, safdar_zaman <safdaraslam@yahoo.com> wrote:

Hi Etan,
It now travels one meter. But when it sees something then travels less and
turns and stops.Then problem was in odometry which was late. Now fine I
think.
One thing I tried too much is that how to take Robot to a particular
location (room etc.) because its not clear in simpleSendingGoals's code how
to set pose.x and pose.w for the goal for room or any other place in the map
etc?

To get a robot to go to a specific room in the map, you'll need to know the map coordinates of a point in the room. You can use a tool like rviz to get the location by sending a goal to the navigation stack that way and looking at the output of the program. For details on using rviz with the navigation stack see:�http://www.ros.org/wiki/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack

Second question is how can I mark some aria in map prohibited so that Robot
should not go into that specified aria?

To do this, we've been suggesting that you create your own observation source that publishes a point cloud marking the desired area of the map as blocked. This guarantees the information gets to both the local and global costmaps. There's some work being done on a tool that takes in a bitmap and publishes a point cloud for you, but I'm not sure what the status of that tool is, so you might have to do it yourself. Another option is to go into the map and draw over the area you don't want the robot to traverse, but this isn't guaranteed to work when local sensor information sees through the obstacles that don't actually exist.

Hope this helps,

Eitan

�

Thanks a lot.

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