Holonomic motion planning

Using dwa_local_planner and move_base

This week was all about getting the robot to move sideways using different local planners. In my last update, although I had not completely fine-tuned all move_base parameters, I was sufficiently happy about its initial performance. I used Base Local Planner plugin as a local planner, and despite trying everything,... [Read More]

Navigation stack update

Testing assisted_teleop and move_base

After the last update, I had a robot capable of performing SLAM, building 2D maps and localizing within a map using amcl. This weekend, I continued further and implemented the move_base package to complete the ROS navigation stack. Before I did that, I was exploring the navigation_experimental package and found... [Read More]