SwRI mobile manipulation platform

In its current state, the navigation configuration assumes a number of different topics in the euler namespace

• /euler/scan1 and /euler/scan2 - navigation subscribes to the two LaserScans provided by the laser scanners on the base
• /euler/cmd_vel - navigation publishes the Twist message used by the base for driving
• /euler/odom - navigation subscribes to Odometry messages

In addition, it also assumes that the following transforms are published.

• /odom --> /base_link
• /base_link --> X (where X is the frames for that the laser data is published in)
• /map --> /odom - This is the localization step

The navigation configuration provides numerous topics for visualizing the robot's progress toward the goal, too many to list here.

In terms of input, you can specify goals by publishing on the topic /move_base_simple/goal, which is what RViz does. However, the higher-level smach-compatibile Action interface is also available, as a MoveBaseAction with the namespace /move_base.

To run the navigation demo with simulated input/driving (via Stage), run the following command.

• roslaunch euler_navigation_demo stage.launch