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Is there an existing speed control node to connect the robot_localization state estimator with the diff_drive_controller?

asked 2016-08-03 14:50:44 -0500

ras_cal gravatar image

I am using ROS Indigo on a differential drive robot for indoor use (no GPS). The path is pre-determined and the velocity along the path is to be controlled. I believe that move_base node would be overkill and probably would not work in this case. Speed along path needs to be at a certain rate and if an obstacle is detected the unit will stop and send an alarm. I think a 2-D PID speed controller (linear and angular vel.) and a path planner that reads from the pre-planned path and provides the commanded 2-D speed is all that is needed. Is there an existing ROS node I could use or modify?

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I think move_base could work. You just have to frame your predetermined path as a move_base global planner.

Tom Moore gravatar image Tom Moore  ( 2016-08-30 02:29:18 -0500 )edit

I think the global planner goal format is a geometry_msgs/PoseStamped message which is just a point and pose. I would need a goal with a format that includes a point (x,y) as well as a linear speed vector (vx, vy) defined for each waypoint.

ras_cal gravatar image ras_cal  ( 2016-09-05 14:50:48 -0500 )edit

Did you ever figure this out? If so, can the question be closed?

Tom Moore gravatar image Tom Moore  ( 2017-07-20 04:17:04 -0500 )edit

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answered 2017-08-07 08:33:22 -0500

ras_cal gravatar image

We couldn't find anything that could be used with only minor modifications so we developed a pure pursuit type of navigation control that provides angular and linear speed commands, which we are still testing.

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Asked: 2016-08-03 14:50:44 -0500

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Last updated: Aug 07 '17