Usage¶

To be able to use this package you have to create a map with gmapping. This can be run with rosrun gmapping slam_gmapping, save the map with rosrun map_server map_saver.
Each launch file takes the argument map which is the path to the map saved with gmapping.
To just launch the DWA planner together with AMCL localization do roslaunch scitos_2d_navigation amcl.launch map:=/path/to/map.yaml.
If you want to launch it with the 3d obstacle avoidance, provide the additional argument with_camera:=true. Make sure that you have a depth camera publishing on the topic chest_xtion, for more details see https://github.com/strands-project/scitos_common.

scitos_2d_navigation¶