[ros-users] Navigation Goal

[Eitan Marder-Eppstein]

Safdar,

On Mon, Oct 18, 2010 at 9:09 AM, safdar_zaman <safdaraslam at 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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