Serve static Map + AMCL localization w/ Nav Stack - Githubissues

UTRA-ART / SLAM-1920

SLAM and Navigation on ROS Kinetic

https://utra-art.github.io/SLAM/

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Serve static Map + AMCL localization w/ Nav Stack #19

Closed erickmu1 closed 4 years ago

erickmu1 commented 4 years ago

Description: Load a static map and configure AMCL localization for the navigation stack.

Goals:

[x] Load in a static map.
[x] Configure AMCL to localize the robot given a static map.

Acceptance Criteria:

[x] See static map in RViz.
[x] See robot localization in RViz (localization should “improve” with navigation)
[x] Ensure that the globalcCostmap configuration file is updated accordingly (use /map and not /odom).

Notes:

Load playpen world map
Load completely empty map
global_frame should use /map not /odom, but we still want a configuration for launching the nav stack w/o a static map (ask @erickmu1 for details)
See Chp 17 of Programming Robots with ROS for reference