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It shouldn't be too hard to write a single node that has an action server for goals, receives nav_msgs/Odometry from the umd_odometry_node, and produces the appropriate geometry_msgs/Twist to control your base. Once you add more sensors, you can replace this node with the ROS navigation stack.

The most basic approach is to compute the desired heading to your destination, and use that as a proportional input to your yaw velocity (steering), and to compute the remaining distance to your destination, and use that to set your forward velocity.

I implemented a scheme like this on my robots, and it worked fairly well if there weren't any obstacles in the way.