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trajectory controllers are not for robot base, they are for robot arms. During the navigation move_base takes global planner and local planner into account for avoiding collisions with obstacles thus you don't follow the exact path during robot base navigation. If you want your robot base to follow exact path you can code your own controller. You can check out pr2_controller tutorials for details in order to write your own controller for the base

trajectory controllers are not for robot base, they are for robot arms. During the navigation move_base takes global planner and local planner into account for avoiding collisions with obstacles thus you don't follow the exact path during robot base navigation. If you want your robot base to follow exact path you can code your own controller. You can check out pr2_controller tutorials for details in order to write your own controller for the base base

And local planners such as dwa ( that is in ros ) does what you need check out this this wiki page