1. INSTRUCTION:
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Use amcl.launch for navaigation using odometry provided by NAO robot.
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Use amcl_scanmatch.launch for navigation using laser scan data as odometry.
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Use gtest.launch for mapping using gmapping
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Use htest.launch for mapping using hector mapping
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In the launch files make sure to change the paths to config, map, and rviz files accordingly.
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To use gmapping and hector mapping, /opt/ros/indigo/lib/naoqi_driver_py needs to be changed (uncomment ln160)
2. KNOWN BUGS:
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Move_base demonstrates weird behaviors (seemingly unnecessary rotation).
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Laser_scan_matcher loses target when robot is rotated in place of approximately 90 degrees or more.
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Error message "Error while transforming pose: "base_footprint" passed to lookupTransform argument target_frame does not exist." when assigning a goal in rviz.
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For larger maps, path planner is not able to plan a complete (only a short segment).