<html><head><style>body{font-family:Helvetica,Arial;font-size:13px}</style></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space;"><div id="bloop_customfont" style="font-family:Helvetica,Arial;font-size:13px; color: rgba(0,0,0,1.0); margin: 0px; line-height: auto;">On 23 Mar 2014 at 19:16:16, Sebastian Kasperski (<a href="mailto:sebastian.kasperski@dfki.de">sebastian.kasperski@dfki.de</a>) wrote:</div> <blockquote type="cite" class="clean_bq"><span><div style=""><div></div><div>
<title></title>
<div>Hello ROS users,</div>
<div> </div>
<div>I would like to share a set of ROS packages that provide nodes
for autonomous exploration and map building for mobile robots
moving in planar environments. More information and some help can
be found in the ROS-Wiki:</div>
<div>http://wiki.ros.org/nav2d</div>
<div> </div>
<div>The source is available via Github:</div>
<div>https://github.com/skasperski/navigation_2d</div>
<div> </div>
<div>It contains ROS nodes for obstacle avoidance, basic path
planning and graph based multi-robot mapping using the OpenKarto
library. Autonomous exploration is done via plugins that implement
different cooperation strategies. Additional strategies should be
possible to implement with only little overhead.</div>
<div> </div>
<div>These nodes have been used on a team of Pioneer robots, but
other platforms should also do. A set of ROS launch files is
included to test the nodes in a simulation with Stage. Please feel
free to try it and post issues on Github.</div>
<div> </div>
<div>Sebastian</div>
<div><br></div></div></div></span></blockquote><br><div>Hi Sebastian,</div><div><br></div><div>I tried the tutorials, and everything works beautifully.</div><div><br></div><div>However on my real robot, I get a weird transformation between /map and /offset, which results in the robot base frame being upside down wrt. the map. (in RVIZ I see the robot on the other side of the 2d map).</div><div><br></div><div>I’m trying to trace down the issue. Meanwhile, do you have any information about this? I can send my launch/yaml configs (which is basically a fork of nav2d_tutorials).</div><div><br></div><div>Best,</div><div>Federico Ferri</div></body></html>