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Trajectory following with mobile, holonomic robot

asked 2015-03-05 17:50:00 -0500

zickzackandonthemove gravatar image

Hi guys

I wanted to ask if there is really no package / stack available that implements position control for velocity-controlled holonomic mobile robots? And that also features a TrajectoryActionServer for the latter? I have a robot for which a Pr2BaseController is running. The navigation stack and move_base seem like an overkill to me since I already have computed trajectories and/or goals for the base and am simply looking for an easy way to execute them. I can write a package myself but it seems such a general task that I am really astonished I couldn't find anything fitting my needs online.

Thanks for your answers!

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What input do you have to the system? By computed trajectories, do you mean that you have what move_base would consider a global path?

David Lu gravatar image David Lu  ( 2015-03-05 19:30:18 -0500 )edit

Well, it's a trajectory given in global coordinates (x,y,theta,time), though I actually don't care that much about timing for my application, so violations in that regard are ok. So I suppose it is similar to what move_base considers a global path?

zickzackandonthemove gravatar image zickzackandonthemove  ( 2015-03-06 04:25:25 -0500 )edit

I'm not familiar with any of these, but I just stumbled on a number of generic controllers that might suit your purpose.

Neil Traft gravatar image Neil Traft  ( 2015-08-14 22:04:55 -0500 )edit

Hi.. Were you able to find a trajectory controller without using the navigation stack and move base?

webvenky gravatar image webvenky  ( 2016-05-29 00:37:07 -0500 )edit

@webvenky Check my answer below.

zickzackandonthemove gravatar image zickzackandonthemove  ( 2016-05-29 09:08:16 -0500 )edit

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answered 2016-05-29 09:07:20 -0500

zickzackandonthemove gravatar image

I ended up coding something very basic myself that was sufficient for my purpose. It is part of this package: https://github.com/islers/youbot_controllers ()

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Asked: 2015-03-05 17:50:00 -0500

Seen: 877 times

Last updated: May 29 '16