Running with real SMB

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Luca Bartolomei edited this page Jul 3, 2022 · 5 revisions

Running on the real SMB

Connect to the robot and start the state estimation and control pipeline. Once it is started, run the planner as done in simulation:

$ roslaunch smb_navigation navigate2d_ompl.launch

It is possible to:

Tune the planner via the rqt_reconfigure tool ($ rosrun rqt_reconfigure rqt_reconfigure);
Use all the features described in the page "Running in simulation".

Note: To use the default move_base global planner based on A*, use the launch file navigate2d.launch.

SMB Path Planner, V4RL