| Les deux révisions précédentesRévision précédenteProchaine révision | Révision précédente |
| lissi:rosdebugnav2d [2013/12/20 10:01] – aurelien.hazan | lissi:rosdebugnav2d [2013/12/20 12:22] (Version actuelle) – aurelien.hazan |
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| ===Tune === | ===Tune === |
| *nav ros+wifibot | *nav ros+wifibot |
| ** plan général: [[image|http://wiki.ros.org/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf_small.png]] | * plan général: [[image|http://wiki.ros.org/navigation/Tutorials/RobotSetup?action=AttachFile&do=get&target=overview_tf_small.png]] |
| ** q: pourquoi je vois pas costmap ? | * q: pourquoi je vois pas costmap ? |
| **odom_combined | * odom_combined |
| **# [[ekf|http://wiki.ros.org/robot_pose_ekf]]; voir aussi [[troubleshoot|http://wiki.ros.org/robot_pose_ekf/Troubleshooting]]; Q: ajouter vision ?? | - visual odometry [[http://wiki.ros.org/viso2_ros|viso2_ros]] (il faudra surement ajouter un paquet genre ros-hydro-usb-camera ou ros-hydro-uvs-camera ; quelle diffférence ??) |
| **# [[imu|http://wiki.ros.org/imu_drivers#RosAPI]] (e.g. wii) | - [[ekf|http://wiki.ros.org/robot_pose_ekf]]; voir aussi [[troubleshoot|http://wiki.ros.org/robot_pose_ekf/Troubleshooting]]; Q: ajouter vision ?? |
| ** nav params [[web|http://wiki.ros.org/navigation/Tutorials/RobotSetup]] | - [[imu|http://wiki.ros.org/imu_drivers#RosAPI]] (e.g. wii) |
| **# global cost map: pas de map server => static_map=False ( [[web|http://wiki.ros.org/navigation/Tutorials/RobotSetup]]) | * robot_ekf: |
| **# base_local_planner_params: diminuer max_vel_x: 0.45,... | * PROBLEME: fitler time older .... =>rostopic echo tf |
| ** move base params [[web|http://wiki.ros.org/move_base?distro=hydro]] | * nav params [[web|http://wiki.ros.org/navigation/Tutorials/RobotSetup]] |
| **# info: [[expected behaviors|http://wiki.ros.org/move_base?distro=hydro#Expected_Robot_Behavior]] | - global cost map: pas de map server => static_map=False ( [[web|http://wiki.ros.org/navigation/Tutorials/RobotSetup]]) |
| **# info: implementation: [[class diagrams| https://docs.google.com/drawings/d/1012j70nNhQJ12ol6usWmxOLPiNteOTS1Ai_qbtoObjY/edit?pli=1]] | - base_local_planner_params: diminuer max_vel_x: 0.45,... |
| **# recovery behaviors: on peut le disabler avec [[http://wiki.ros.org/move_base#Parameters]] | * move base params [[web|http://wiki.ros.org/move_base?distro=hydro]] |
| ** Autres implémentations: http://code.google.com/p/roswifibot | - info: [[expected behaviors|http://wiki.ros.org/move_base?distro=hydro#Expected_Robot_Behavior]] |
| | -info: implementation: [[class diagrams| https://docs.google.com/drawings/d/1012j70nNhQJ12ol6usWmxOLPiNteOTS1Ai_qbtoObjY/edit?pli=1]] |
| | - recovery behaviors: on peut le disabler avec [[http://wiki.ros.org/move_base#Parameters]] |
| | * Autres implémentations: http://code.google.com/p/roswifibot |
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