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—
globalnavigation is used to create paths for a goal in the map or a far-off distance
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 the
global navigation and the
local costmap for
local navigation. ...