movebase导航和地图数据的使用 - 1 move base overview

The move_base package provides an implementation of an action (seethe actionlibpackage) that, given a goal in theworld, will attempt to reach it with a mobile base. Themove_base node links together aglobal and local planner to accomplish its global navigationtask. It supports any global planner adhering to thenav_core::BaseGlobalPlannerinterface specified in the nav_corepackage and any local planner adhering to thenav_core::BaseLocalPlannerinterface specified in the nav_corepackage. The move_base node alsomaintains two costmaps, one for the global planner, and onefor a local planner (see the costmap_2dpackage) that are used to accomplish navigation tasks.