Added Overview section to README #4
Conversation
mkhansenbot
requested review from
mjeronimo,
mikeferguson,
DLu,
crdelsey,
orduno and
mhpanah
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I would point out that currently the system requires "a map, a destination, and a position estimate". While AMCL does maintain localization of the robot based on odometry+laser, it does not localize a robot without some apriori knowledge (the "initial pose"). Given that solving the kidnapped robot problem is still a fairly open research question, I don't think we want to presuppose that we will have such a solution in the new system. |
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@mikeferguson - That makes sense, I agree. I updated the README to include "a current pose" as an input. As for the "Kidnapped Robot" problem, I don't expect this to be solved as part of this project. However I do expect it will be solved in the near future with a combination of positioning technologies, and when it is, this project should work the same as if a user designated an initial pose manually. :) |
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Any other comments or can I merge this? |
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This overview is based on the current understanding of the existing ROS navigation system and the expected behavior of the new system to be the same. Feedback welcome.