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doubt regarding working of base_local_planner

asked 2015-06-01 10:02:54 -0600

Naman gravatar image

updated 2015-06-01 21:37:28 -0600

Hi all,

I have a doubt regarding working of base_local_planner. As the base_local_planner requires an odometry information (nav_msgs/Odometry) to get the current speed of the robot, I would like to know how does the base_local_planner uses the odometry message to effectively generate the command velocities (/cmd_vel), I mean what kind of controller does it use (is it PID or something) or how does it work out? I am more interested in knowing how the odometry message is interpreted to better estimate the command velocities. Can anyone throw some light on it or point me in the right direction.

Thanks in advance.
Naman Kumar

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answered 2015-06-02 01:17:39 -0600

felixwatzlawik gravatar image

I think it doesnt use a pid-controller since there is an additional package which is called ros_control which provides pid's and stuff.. I think simply said he publishes a high cmd_vel if he has a path that has small costs, which means there are no objects in the surrounding and he can drive save and he publishes a low cmd_vel if there are many objects and it is a difficult path.

Hope that helped you

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Asked: 2015-06-01 10:02:54 -0600

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Last updated: Jun 02 '15