Although move_base provides a abundent interface for robot moving, but it doesn't work well in the some senria especially has high requirements of moving accurate. For example, when robots are doing some tasks about manipulation in front of the desk, it is supposed to be very closed to the table (maybe 20-30mm). If using move_base navigation stack, it may lead to plan failure because it shows the collision with the table. To solve this problems, we propose a noval method for indoor navigation stack via PID and amcl localization package.
The project is based on ROS Kinect, so you need to install ROS first. Full desktop version is recommanded because some component such as dynamic reconfiguration and rviz is used.
You should put this project as a ros package under the src folder of workspace.
cd [your_workspace]/src
git clone [email protected]:jiangxkjohn/hit_move.gitThen compile this package
catkin_make -j8 -DCATKIN_WHITELIST_PACKAGES="hit_move"