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  1. Running

Running

nav_graph_builder.launch launches the navigation graph builder, which generates the occupancy grids and roadmap given the output from the graph slam system in the graph_slam package.

move_base_topo.launch launches the navigation system, that takes in goals and uses the navigation graph to do hybrid metric-topological planning, and send the resulting waypoints to move_base.


2022-05-28 13:05