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You use the teb_local_planner with move_base. http://wiki.ros.org/move_base

move_base will publish a twist message. The teb_local_planner can publish a steering angle in the twist msg. https://github.com/rst-tu-dortmund/teb_local_planner/blob/kinetic-devel/cfg/TebLocalPlannerReconfigure.cfg#L115 You will need a ROS node that convert steering angle of the twist to steering angles of each of your wheels. Some code to help you : https://github.com/ros-controls/ros_controllers/blob/melodic-devel/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp#L437

You use the teb_local_planner with move_base. http://wiki.ros.org/move_base

http://wiki.ros.org/move_base move_base will publish a twist message. message.

The teb_local_planner can publish a steering angle in the twist msg. https://github.com/rst-tu-dortmund/teb_local_planner/blob/kinetic-devel/cfg/TebLocalPlannerReconfigure.cfg#L115 https://github.com/rst-tu-dortmund/teb_local_planner/blob/kinetic-devel/cfg/TebLocalPlannerReconfigure.cfg#L115

You will need a ROS node that convert steering angle of the twist to steering angles of each of your wheels. wheels.

Some code to help you : https://github.com/ros-controls/ros_controllers/blob/melodic-devel/four_wheel_steering_controller/src/four_wheel_steering_controller.cpp#L437