Robot Operating System Cookbook

How it works…

Now, we will learn how to configure the navigation stack and all the necessary files. First of all, we will discuss costmap, and how the mobile robot moves through the map using two types of navigation strategy: global and local.

The global navigation is used to create paths from the start to a goal location in the map or at a far-off distance, whereas local navigation is used to create paths in the nearby distance to avoid obstacles, for example, with a square window of 4 x 4 meters around the robot.

Similarly, the globalcostmap is used for global navigation and the localcostmap is used for local navigation. The costmaps have parameters to configure that define the behaviors for the robot during navigation. Some of the parameters ...