ROS笔记-16 Navigation with Networking ROS.txt

Robot:
	sudo ntpdate -u time.windows.com
	
	source devel/setup.sh
	export ROS_HOSTNAME=durant35.local
	
	roslaunch move_base_launch move_base.launch
	
	
PC:
	

	source devel/setup.sh
	export ROS_HOSTNAME=durant35-aspire-tc.local
	export ROS_MASTER_URI=http://durant35.local:11311
	roslaunch navigation_launch navigation_networking.launch map:=lab510_0817.yaml

	//roslaunch navigation_launch navigation.launch map:=lab314_2.yaml
	//roslaunch navigation_launch navigation.launch map:=lab510_0518.yaml
	roslaunch navigation_launch navigation.launch map:=lab510_0531.yaml
	
	roslaunch navigation_launch navigation_trajectory.launch map:=lab510_0531.yaml
	
	roslaunch navigation_launch navigation_smoother.launch map:=lab510_0531.yaml
	
	
	
使用键盘操控
	roslaunch motor_driver_launch keyboard.launch
	
开启导航功能
	roslaunch navigation_launch navigation.launch map:=lab510_0518.yaml
	roslaunch navigation_launch navigation.launch map:=lab510_0526.yaml
	
	设置 initial pose 并初始化 amcl 定位
	./CarControlServer
	roslaunch motor_driver_launch keyboard.launch
	
	roslaunch motor_driver_launch motor_driver.launch
	
	
	Robot: 
	fuser 13000/tcp -v
	kill PID



《Obtaining nav_msgs/Odometry from a laser_scan (eg. with laser_scan_matcher)》
	http://answers.ros.org/question/12489/obtaining-nav_msgsodometry-from-a-laser_scan-eg-with-laser_scan_matcher/#18434

	It looks like the scan matcher isn't measuring velocity directly, but it is computing the delta in the laser position, which you could combine with the time between laser scans to produce a rough estimate of velocity, subject to jitter in your laser frequency and any errors in the scan matching.


《Does a static_map costmap continually update from map_server?》
	http://answers.ros.org/question/107281/does-a-static_map-costmap-continually-update-from-map_server/

	does this only happen once, when initializing the costmap, or will the costmap be periodically updated when the map in map_server changes?

	Yes, it continually updates


《What's the difference between global and local costmap's static_map?》
	http://answers.ros.org/question/10620/whats-the-difference-between-global-and-local-costmaps-static_map/

	The difference between the global and local costmap is that the global planner uses the global costmap to generate a long-term plan while the local planner uses the local costmap to generate a short-term plan. 

	Setting the "static_map" parameter to true just means that you'll be taking an outside map source for navigation. That map could come from SLAM or it could come from a source like the map_server.

	gmapping can just replace the map_server with global static_map=true. An example of setting static_map=false, rolling_window=true would be a situation where you want to run navigation for the robot in the odometric frame without any map at all.