Hi to all,
I have a skid-steering wheeled robot with RTK GPS, a SICK laser and a IMU which outputs orientation data.
Thanks to the support of @Tom-moore, i was able to correctly setup the odometry (GPS+encoders+IMU).
Now, I would like to send a [PoseStamped](http://docs.ros.org/api/geometry_msgs/html/msg/PoseStamped.html) message with [move_base](http://wiki.ros.org/move_base) in order to implement a GPS waypoint navigation.
I tried to simply run the command:
rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped '{header: {stamp: now, frame_id: "map"}, pose: osition: {x: 4.95, y: -13, z: 0.0}, orientation: {w: 1.0}}}'
but the robot is not moving in RVIZ.
I think that `move_base` should be used on a map, is it correct?
Do I need do build a map by using [gmapping](http://wiki.ros.org/gmapping) or similar ROS packages like [AMCL](http://wiki.ros.org/amcl)?
I'm sorry for these beginner questions, but I'm not able to correctly understand how to build a GPS waypoints navigation.
If I need to use [gmapping](http://wiki.ros.org/gmapping), how can I use my odometry data?
This is my launch file for the `ekf_localization_node` and `navsat_transform_node`.
[false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false] [false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true] [false, false, false,
false, false, false,
true, true, true,
false, false, true,
false, false, false] [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false] [false, false, false,
true, true, true,
false, false, false,
true, true, true,
true, true, true]
↧