Interbotix Tutorials: LoCoBot | In-Depth Look at the LoCoBot Navigation Stack
This tutorial walks through the Navigation Stack on your LoCoBot. Specifically, it discusses the two main ROS packages used in it - rtabmap_ros for SLAM and move_base for Navigation, and explains how each one was configured. Types of configurations include whether the RPLidar 2D laser scanner should be used, what the clearance height of the robot should be, and the footprint size of the robot. In general, this video focuses on the architecture of the Navigation Stack so that you can get an overall idea of how the different components fit together. Using the Navigation Stack is its own video that can be seen elsewhere.
0:00 Intro
0:10 SLAM & Navigation
1:39 rtabmap_ros for SLAM
2:40 move_base for Navigation
3:18 xlocobot_nav Launch File
9:06 Advanced Parameter Tuning
12:18 Nodelets
16:25 move_base Configs
21:09 laser_layer
24:49 depth_layer
26:37 inflation_layer
27:15 Global Costmap .yaml
28:33 Global Costmap Depth Config
28:50 Local Costmap
29:22 Local Costmap Depth Config
29:43 Global Planner
31:30 Local Planner
33:11 move_base_params
34:23 Conclusion
Rtabmap ROS Wiki: http://wiki.ros.org/rtabmap_ros
Setup Rtabmap on your Robot!: http://wiki.ros.org/rtabmap_ros/Tutor...
Advanced Parameter Tuning: http://wiki.ros.org/rtabmap_ros/Tutor...
Interbotix ROS Rovers XSeries LoCoBots GitHub: https://github.com/Interbotix/interbo...
Move Base ROS Wiki: http://wiki.ros.org/move_base
Costmap 2D ROS Wiki: http://wiki.ros.org/costmap_2d