December 2016
Beginner to intermediate
468 pages
9h 43m
English
book
Effective Robotics Programming with ROS - Third Edition
by Luis Sanchez, Enrique Fernandez Perdomo, Anil Mahtani
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Configuring the costmaps – global_costmap and local_costmap
Okay, now we are going to start configuring the navigation stack and all the necessary files to start it. To start with the configuration, first we will learn what costmaps are and what they are used for. Our robot will move through the map using two types of navigation: global and local:
- The
globalnavigation is used to create paths for a goal in the map or at a far-off distance - The
localnavigation is used to create paths in the nearby distances and avoid obstacles, for example, a square window of 4 x 4 meters around the robot
These modules use costmaps to keep all the information of our map. The global costmap is used for global navigation and the local costmap for local navigation.
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I wanted to learn C and C++, but it didn't click for me until I picked up an O'Reilly book. When I went on the O’Reilly platform, I was astonished to find all the books there, plus live events and sandboxes so you could play around with the technology.Addison B.
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I'm always learning. So when I got on to O'Reilly, I was like a kid in a candy store. There are playlists. There are answers. There's on-demand training. It's worth its weight in gold, in terms of what it allows me to do.