Using globalNavigation Exercise with other worlds and maps

asked 2018-06-25 08:14:53 -0600

aakhter gravatar image

Hi

I am trying to use the globalNavigation Exercise (https://github.com/JdeRobot/Academy/t...) with my own world and map. To do that, I changed the taxiMap.conf file as follows:

img=resources/images/my_map.png
worldHeight=17
worldWidth=12
originX=-8
originY=-6
angle=180

and made some other changes in the code to subscribe to correct odom and cmd_vel topics. However, when I run the program with my own gazebo world, I get the following output:

GOING TO DESTINATION
21.0
(199, 199)
4.0
[197, 197, 0]
find target pose
[2.3725000000000005, -2.5900000000000007, 0]
-6.0915611955e-05
-0.000732572666744
0.000133210776713
-0.829178366031

Also the robot just keeps on moving in a straight line regardless of how the path is planned.

I am trying to understand what these numbers mean in the output, starting from GOING TO DESTINATION to find target pose? My map has a height and width of 17 and 12 respectively, so are the above numbers related to dimensions of map or its something else?

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