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navigation for non-holonomic robots

asked 2014-07-08 05:04:01 -0500

atenea gravatar image

Hi everyone! I am working on a non holonomic, non differential drive robot, and I was wondering if there are already plans to extend the navigation stack to this kind of robots?

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answered 2014-07-08 10:23:50 -0500

David Lu gravatar image

The standard navigation stack works fine for non-holonomic robots. You just need to set the maximum velocity in the Y direction to 0 in the local_planner.

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David, I am not sure if I am missing the point here, but navigation for Ackermann-type steering is far from optimal, AFAIK. The planned route looks good, even including k-curves, according to documents I found, but executing the plan, K-curves are solemnly ignored. Tough for car-like robots.

ccapriotti gravatar image ccapriotti  ( 2014-07-08 16:00:20 -0500 )edit

I did not read "non differential drive" as Ackermann, which is perhaps my fault.

David Lu gravatar image David Lu  ( 2014-07-08 17:19:25 -0500 )edit

Actually, I did the opposite: I read "non-holomoni" (and had to look it up) and forgot about the non-differential. It gets confusing, but, if you stop to think about it, it is simpler from a mechanical point of view: two motorized driving wheels and two steering wheels. (cont...)

ccapriotti gravatar image ccapriotti  ( 2014-07-09 05:14:04 -0500 )edit

But if this is the scenario, I'd go for two motorized wheels and one free wheel, holonomic. IF this is an option, of course. We would need from details from @atanea.

ccapriotti gravatar image ccapriotti  ( 2014-07-09 05:15:45 -0500 )edit

Hi guys! actually, the robot counts with two fixed standard rear wheels and two steerable standard front wheels, the front wheels are the motorized driving and steering wheels. So basically it is an Ackermann type steering.

atenea gravatar image atenea  ( 2014-07-09 06:32:37 -0500 )edit

Maybe we can summon @joq. All I know is the existence of this package:

David Lu gravatar image David Lu  ( 2014-07-09 10:51:06 -0500 )edit

answered 2014-07-14 10:35:43 -0500

joq gravatar image

updated 2014-07-14 10:38:40 -0500

Ackerman Group has some additional info. I am not currently working on it, although I do maintain that message package.

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Asked: 2014-07-08 05:04:01 -0500

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Last updated: Jul 14 '14