[ros-users] Navigation Goal

[Eric Perko]

On Mon, Oct 18, 2010 at 1:42 PM, Eitan Marder-Eppstein <
eitan at willowgarage.com> wrote:

> 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.
>

Safdar,

We did finish a tool that can read in a map from the map_server and output a
point cloud. Note that we haven't gotten a chance to document it very well
yet, but it does work and has been in use for the past week or so while we
have been testing other things. Some important things to note: you will have
to mark up the map from gmapping to reflect your blocked zones and you
should probably use a separate map for AMCL if they are obstacles that a
LIDAR will not detect.

You can find the map to point cloud node here:
http://github.com/cwru-robotics/cwru-ros-pkg/blob/master/cwru_semi_stable/cwru_nav/src/map_as_sensor.cpp
.
To see how we currently use it, start with
http://github.com/cwru-robotics/cwru-ros-pkg/blob/master/cwru_semi_stable/cwru_nav/start_tour_guide_nav.launch
and
follow the launch files. Let me know if you have any questions/problems and
I'll see if I can help.

Eitan,

I think this would be a generally useful tool for others when using the
navigation stack. Is there an existing package that would be good for it?
costmap_2d or map_server perhaps? If there is, I'd be interested in working
towards getting this documented and added to the official navigation stack
for Diamondback unless better official support for forbidden zones and such
is on the roadmap for navigation in Diamondback.

- Eric


>
> Hope this helps,
>
> Eitan
>
>
>>
>> Thanks a lot.
>>
>> --
>> View this message in context:
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>> Sent from the ROS-Users mailing list archive at Nabble.com.
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