how can i simulate the Navigation use Indigo + RVIZ + Ackermann model?

asked 2016-06-12 02:12:48 -0500

ljxiang
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I have learned ROS(Indigo) for some time, and still a beginner. I just want to use ROS's Navigation stack to simulate some path planning algorithm. I have knew how to simulate the Navigation with Husky(differential drive robot) in RVIZ, but now, i need to simulate the Navigation with car-like model, i cannot find the solution method from Ackermann Group.
I want to simulate the Navigation use Indigo + RVIZ + Ackermann model, what should i do ? Thanks!(sorry, my english is poor)

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@croesmann, i am hope for your help, can you help me?

ljxiang ( 2016-06-12 02:17:44 -0500 )edit

I have the same direction with you. Can you gave me your Wechat

xlqin ( 2016-12-05 07:30:41 -0500 )edit

@xlqin, please do not post answers that are not answers. I've moved your answer to be a comment.

jarvisschultz ( 2016-12-05 09:22:58 -0500 )edit

@xlqin, please give me your email and I will contact you.

ljxiang ( 2016-12-06 18:34:25 -0500 )edit

xlqin@tju.edu.cn

xlqin ( 2016-12-10 07:10:52 -0500 )edit

have you found an answer to your problem?

aarontan ( 2018-06-22 09:27:04 -0500 )edit

@aarontan under the help of croesmann, i have solve this problem.

ljxiang ( 2018-06-28 20:18:48 -0500 )edit

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answered 2016-06-14 16:30:43 -0500

croesmann
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updated 2016-06-14 16:35:15 -0500

If you want to give the teb_local_planner a try you can start with the corresponding tutorials of the teb_local_planner wiki page. There is a tutorial about how to setup your car-like robot (with the stage simulator and and a visualization in rviz), but I recommend to start with the very first tutorial in order to get familiar with the planner.

The tutorials are supported by complete and ready-to-use examples (see this repository). Here you can investigate a complete car-like example before adapting it to your personal robot.

Additionally, before proceeding with the tutorials, I highly recommend to get familar with the concepts and fundamentals of the navigation stack (move_base, costmaps, inflation, global/local planning, tf frames, ...).