Mobile robots shall help and accompany us in the future in our everyday life. To do so, a robot has to navigate to specific locations, not always defined by its position but also by what one can find there. In this thesis, a possible approach to include semantic maps into navigational planning is Osnabrück was implemented. Normally, semantic maps are build using an ontology as a reasoning base. In this thesis, a database is connected with a topological graph to include semantic information in a map.
Move Base Flex (MBF) is a backwards-compatible replacement for move_base. MBF can use existing plugins for move_base, and provides an enhanced version of the planner, controller and recovery plugin ROS interfaces. It exposes action servers for planning, controlling and recovering, providing detailed information of the current state and the plugin’s feedback. An external executive logic can use MBF and its actions to perform smart and flexible navigation strategies. Furthermore, MBF enables the use of other map representations, e.g. meshes or grid_map This package is a meta package and refers to the Move Base Flex stack packages.The abstract core of MBF – without any binding to a map representation – is represented by the mbf_abstract_nav and the mbf_abstract_core. For navigation on costmaps see mbf_costmap_nav and mbf_costmap_core.