navigation for non-holonomic robots

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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.

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

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...)

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.

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.

Maybe we can summon @joq. All I know is the existence of this package: http://wiki.ros.org/ackermann_msgs