Autonomous navigation in RViz tool
Автор: STEMnRobotix Academy
Загружено: 2024-12-28
Просмотров: 98
Описание:
#GazeboSimulator #RoboticsSimulation #GazeboTutorial #RoboticsPlanning #SimulationSoftware #ROS #Robotics #RobotArm #RViz #RoboticsInEducation
Day 5 - Autonomous navigation
Concepts covered:
Global and Local Costmaps:
Both are important tools in the ROS 2 ecosystem as they produce a map of how "costly" it is for a robot to pass through an area. Higher costs (darker areas) indicate a wall or higher chance of collision.
The global costmaps define the overall trajectory of the robot from the starting point till the end by avoiding areas with obstacles. In contrast, the local costmap adjusts the path in real-time with the goal to avoid sudden obstacles.
Global and Local Paths:
Are used for the robot's navigation in an area. The global path computes the optimal trajectory from the starting point to the end by avoiding areas with obstacles whereas the local path takes care of the immediate path to follow the robot and adjusts the trajectory to avoid suddenly appearing obstacles.
In the following video you can see in the RViz tool how the scene changes by adding the global costmap, local costmap, global path(green color), and local path (red color)...
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