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answered 2011-06-27 16:11:12 -0500

joq gravatar image

That package was originally written in 2007 for the DARPA Urban Challenge competition [Beeson et al., JoPhA, March 2008]. A substantial subset of it was later ported to ROS without changing the basic design.

The design is quite specific to the Urban Challenge rules and file formats. I don't expect it would help much for an indoor robot. Most of the navigation is for driving down road segments using GPS and a Road Network Definition File (i.e. road map) defined by DARPA, while obeying California traffic laws.

We would like art_nav to use more generic map interface than the art_map package currently provides. Working with several other ROS development groups, we are designing an experimental Geographic Information API for satellite-based mapping and navigation. That does not apply to indoor robots, either, but you are welcome to participate if your other interests intersect.

The code works on our car, and could probably be ported to another with reasonable effort. It depends on lower-level packages (art_pilot, art_servo) which provide fairly generic car-like interfaces (brake, shifter, Ackermann steering, throttle. Servo drivers for those devices would need to be written.

I am interested in working with you or other ROS developers on generic navigation for 4-wheeled vehicles using Ackermann drive. While some of our existing code might be useful and you are welcome to it, I expect a generic package to involve substantial redesign.

That package was originally written in 2007 for the DARPA Urban Challenge competition [Beeson et al., JoPhA, March 2008]. A substantial subset of it was later ported to ROS without changing the basic design.

The design is quite specific to the Urban Challenge rules and file formats. I don't expect it would help much for an indoor robot. Most of the navigation is for driving down road segments using GPS and a Road Network Definition File (i.e. road map) defined by DARPA, while obeying California traffic laws.

We would like art_nav to use more generic map interface than the art_map package currently provides. Working with several other ROS development groups, we are designing an experimental Geographic Information API for satellite-based mapping and navigation. That does not apply to indoor robots, either, but you are welcome to participate if your other interests intersect.

The code works on our car, and could probably be ported to another with reasonable effort. It depends on lower-level packages (art_pilot, art_servo) which provide fairly generic car-like interfaces (brake, shifter, Ackermann steering, throttle. throttle). Servo drivers for those devices would need to be written.

I am interested in working with you or other ROS developers on generic navigation for 4-wheeled vehicles using Ackermann drive. While some of our existing code might be useful and you are welcome to it, I expect a generic package to involve substantial redesign.