A repository for all the STRANDS-augmented movebase, including 3D obstacle avoidance, etc. Relies on scitos_2d_navigation if it is configured to only use laser scan input for navigation, https://github.com/strands-project/scitos_2d_navigation.
roslaunch strands_movebase movebase.launch map:=/path/to/map.yaml- To be able to use this package you have to create a map with gmapping. This can be run with
rosrun gmapping slam_gmapping, save the map withrosrun map_server map_saver. - Each launch file takes the argument
mapwhich is the path to the map saved with gmapping. - Optionally, provide a
no_go_map, the path to a map annotated with no-go areas. - If you do not want to launch it with the 3d obstacle avoidance, provide the additional argument
with_camera:=false. - Provide
camera=camera_namespaceif you have an OpenNI camera publishing on another namespace than the defaultchest_xtion.
If you run with the camera option, be sure that you have a depth camera publishing on the camera_namespace topic. The camera also needs a valid TF transform connecting it to base_link. For more details on the Strands solution, see https://github.com/strands-project/strands_movebase/calibrate_chest.