world_models: topological_map
Package Summary
Builds a graph containing higher level information from a 2d occupancy grid
- Author: Bhaskara Marthi
- License: BSD
- Repository: wg-ros-pkg-boxturtle
- Source: svn https://code.ros.org/svn/wg-ros-pkg/branches/trunk_boxturtle/stacks/world_models/topological_map
Contents
Running
nav_graph_builder.launch launches the navigation graph builder, which generates the occupancy grids and roadmap given the output from the graph slam system in the graph_slam package.
move_base_topo.launch launches the navigation system, that takes in goals and uses the navigation graph to do hybrid metric-topological planning, and send the resulting waypoints to move_base.