movebase导航和地图数据的使用 - 1 move base overview

移动机器人导航详解

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本文介绍了一个基于行动库的move_base包，该包提供了一种实现方式，使移动基座能够根据世界中的目标位置进行导航。它连接全局规划器与局部规划器来完成任务，并支持多种符合nav_core接口规范的规划器。此外，文中还提到了用于导航的成本地图。

The move_base package provides an implementation of an action (seethe actionlibpackage) that, given a goal in theworld, will attempt to reach it with a mobile base. Themove_base node links together aglobal and local planner to accomplish its global navigationtask. It supports any global planner adhering to thenav_core::BaseGlobalPlannerinterface specified in the nav_corepackage and any local planner adhering to thenav_core::BaseLocalPlannerinterface specified in the nav_corepackage. The move_base node alsomaintains two costmaps, one for the global planner, and onefor a local planner (see the costmap_2dpackage) that are used to accomplish navigation tasks.