Steps after starting vox_nav with botanbot sim

[AddyPete]

Hello i successfully launched botanbotsim and vox_nav.

I started Start Selected Gazebo World with vox_nav (I choosed uneven world) Next, is I opened up rviz2 with the configuration in the botanbotsim bringup.

With that, i can sucessfully control the robot manually using the manual robot jogger, however when I try to do send robot pose operation, the robot does not do anything.

I tried X: 10 Y:10 Deg: 0 then clicked on Send Robot to Pose since I assume the starting pose is X:0 Y: 0?

it has these logs

What are the proper steps to start voxnav with botanbot sim? How to get the XY and Deg info of a goal pose in the gazebo world?

This is the rviz window and gazebo world. As you can see, i successfully launched it.

[jediofgever]

Hello, I think the map haven’t been loaded to vox_nav_map_server.

Can you check the path to the pointcloud map in this file https://github.com/NMBURobotics/botanbot_sim/blob/main/botanbot_bringup/params/vox_nav_uneven_world_params.yaml

you need to adjust the path to your system

[AddyPete]

okay it works. Can vox_nav navigation without a pre-loaded map/pointcloud? Like can it do SLAM with navigation at the same time?

[jediofgever]

I have mainly used with a prebuilt map that is because a map based localization is quite attractive. If you don't have a prebuilt map or do not want it ' it should be straight forward to create a planner plugin that just draws lines in between consecutive poses. Then use either GPS way point follower or normal map pose way point follower.

[jediofgever]

As for slam, vox_nav does not have mapping module. I can suggest you lio-sam it is one of the sota slam method.

[AddyPete]

thanks for the response and suggestions