Changes between Version 1 and Version 2 of Plugins/navgraph


Ignore:
Timestamp:
07/03/13 14:19:37 (6 years ago)
Author:
thofmann
Comment:

fix typos

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  • Plugins/navgraph

    v1 v2  
    1010== Requires == 
    1111=== Config Values === 
    12 Besides the configuration values listed below, certain transformations must exist. In particular, there must be a transform from the base base frame to the local frame (typically /base_link to /map). For example, the [wiki:Plugins/amcl amcl] plugin can provide self-localization and the required transform. For testing, you can also use the [wiki:Plugins/map-lasergen map-lasergen] plugin. 
     12Besides the configuration values listed below, certain transformations must exist. In particular, there must be a transform from the base frame to the local frame (typically /base_link to /map). For example, the [wiki:Plugins/amcl amcl] plugin can provide self-localization and the required transform. For testing, you can also use the [wiki:Plugins/map-lasergen map-lasergen] plugin. 
    1313 
    1414||'''Path'''||'''Type'''||'''Description'''||'''Default'''||'''R'''|| 
     
    3535 
    3636== Usage Instructions == 
    37 First prepare a map of the environment to localize in. Based on this map, create a graph where the node positions match the map positions. Node that if you change the origin or increase the size of the map the node positions might need adjustments. Read the NavGraph page for information on the graph file format. Create a graph and start Fawkes loading the navgraph plugin. If you have enabled the ros integration run the [wiki:Plugins/ros ros] and [wiki:Plugins/ros-tf ros-tf] plugins. Start rviz and add the !MarkerArray display type. Afterwards, the graph will be shown. Note that this required the /map fixed frame to be properly published. 
     37First prepare a map of the environment to localize in. Based on this map, create a graph where the node positions match the map positions. Note that if you change the origin or increase the size of the map the node positions might need adjustments. Read the NavGraph page for information on the graph file format. Create a graph and start Fawkes loading the navgraph plugin. If you have enabled the ros integration run the [wiki:Plugins/ros ros] and [wiki:Plugins/ros-tf ros-tf] plugins. Start rviz and add the !MarkerArray display type. Afterwards, the graph will be shown. Note that this required the /map fixed frame to be properly published. 
    3838 
    3939Use the ppgoto skill to move to a specified position using navgraph.