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I want to move a differential drive robot to a target co-ordinate(X = 50, Y = -50 ) from home position (X=0, Y=0) and return back to home position. The max distance the robot has to move is 20 meters.
I don't want to complicate it using navigation stack because it is very simple application. How to accomplish this in ROS using odometry feedback.
Every update step you could find the transform of the target frame in your robot vehicle frame, and then extract the x linear distance to the target, and the yaw rotation (see http://answers.ros.org/question/24699... for a recent example), and give your differential drive a linear x command proportional to the x distance and an angular z command proportional to the yaw. Ideally your differential drive accepts a cmd_vel Twist message and that linear x and angular z go straight into it.
If your drive doesn't take Twist messages but rather individual wheel values, you can use the code from my cmd_vel linear and angular relationship post.
Asked: 2016-11-02 15:30:09 -0500
Seen: 957 times
Last updated: Nov 03 '16
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