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teb_local_planner steering angle

asked 2016-11-18 06:51:12 -0600

FelixF gravatar image

Hi Guys,

I'm new in the ROS environment and this community, so first of all I want to say Hello to everyone of you.

I want to setup an SLAM based autonomous car. The car should detect obstacle with the help of a Lidar sensor. I'am able to create a map of the environment and set an estimation point and a goal. For the navigation I use the navigation stack + the teb_local_planner. There I have some troubles with the MAP update because I have only a Pentium Processor in the notebook. But maybe I can fix this problem with bette configuraions. My problem as soon as I got a path I have to send the moving commands to my car. For that I have a raspberry pi on the car who will forward a steering angle and a speed value to my motor management. But I don't know in wich topic the teb_local_planner publish these topics.

If you need more information tell what I have to publish to you.

Many thanks and I look forward to your answers :)

Best, Felix

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answered 2016-11-18 09:06:01 -0600

fsteinhardt gravatar image

updated 2016-11-18 09:12:28 -0600

If you are using move_base the result is output to the topic cmd_vel (arrow on the bottom of the image on the move_base webpage ) as a geometry_msgs/Twist message .

I haven't used a car-like kinematic myself, but I just found this page with more details for the teb planner and ackermann kinematics.

The sections 2.2.1 and 2.2.2. could interest you.

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Asked: 2016-11-18 06:51:12 -0600

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Last updated: Nov 18 '16