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robot formation in ROS

asked 2016-03-22 22:19:02 -0500

SilverBullet gravatar image

updated 2016-03-23 04:03:51 -0500

gvdhoorn gravatar image

Hi, I'm going to work with ground mobile robot formation in ROS, using turtlebot to do some experiments in simulator like stage. However, there's a tough problem.

The velocity command in ROS is made up of linear velocity and angular velocity while a vast number of formation algorithms result in velocity in 2D vector. Is there any method to make a translation? What if the algorithm generates target point to each robot? How to generate ROS velocity,namely Twist, to make diff-drive robots like turtlebot arrive in such points. I don't think using navigation stack is a good idea.

I'd appreaciate it if anyone can give me some advice or some related package in ROS.

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answered 2016-03-23 02:18:37 -0500

al-dev gravatar image

If you think that the navstack is not a good idea because you need to update your goals at a high frequency, I suggest you look at this thread which discusses how to follow a moving target - the "target points" of each robot in your case.

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Asked: 2016-03-22 22:19:02 -0500

Seen: 267 times

Last updated: Mar 23 '16