Okay, now we are going to start configuring the navigation stack and all the necessary files to start it. To start with the configuration, first we will learn what costmaps are and what they are used for. Our robot will move through the map using two types of navigation: global
and local
:
These modules use costmaps to keep all the information of our map. The global
costmap is used for global
navigation and the local
costmap for local
navigation.
The costmaps have parameters to configure the behaviors, and they have common parameters as well, which are configured in a shared file.
The configuration basically consists of three files where we can set up different parameters. The files are as follows...