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Is there is trajectory planner for quadrotor / holonomic robot in ROS?

asked 2017-02-25 03:37:26 -0500

great82149 gravatar image

updated 2017-02-25 05:18:47 -0500

Hi All,

I wan to control a quadrotor with move_base package, this quadrotor is stable controlled by it's on-board processer, so I just need to move it.

But the problem is this quadrotor can not accept velocity_yaw command, or if I send rotation command it will become very unstable.

So, I want to know is there a path planner for only translation without rotation?

Thanks..

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answered 2017-11-21 10:57:48 -0500

Dr.Jekyll gravatar image

you can use the teb_local_planner package and set the parameters max_vel_theta: 0 and min_vel_theta: 0. In that case, the planner generates only translations. You need to set the yaw_goal_tolerance: 6.28 as well in order to prevent that the planner desperately tries to rotate towards the final orientation.

Cheers Jochen

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Asked: 2017-02-25 03:36:36 -0500

Seen: 228 times

Last updated: Nov 21 '17