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3.7.1 2D Lidar
3.7.1.1 Navigation algorithm
3.7 Navigation and positioning based on Gmapping
open source architecture
Move_base is the core algorithm of robot navigation path planning. It subscribes to the positioning
data of lidar /scan, map, /odom mileage and amcl, and then uses the path planning plugin
integrated into move_base. The global path planning plugin includes:
navfn: The older code version in ROS implements the dijkstra and A* global planning algorithms.
global_planner: Reimplemented Dijkstra and A* global planning algorithm, the improved
version of navfn.
parrot_planner: A simple algorithm to achieve global path planning algorithm.
Partial path planning plugins include：
base_local_planner: Implemented two local planning algorithms, Trajectory Rollout and DWA.
dwa_local_planner: The DWA local planning algorithm is implemented which can be regarded
as an improved version of base_local_planner.
Start lidar, publish base_link-><laser_link> coordinate transfer
roslaunch scout_bringup open_rslidar.launch
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