ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question

How to run navigation stack on a tracked vehicle?

asked 2017-07-03 02:38:48 -0500

Ubicray gravatar image

Hi! I have a tracked robot which I would like to turn into an autonomous one I'm thinking about adding GPS waypoint navigation. The first step for that I think is going to be implementing navigation stack. I'm fairly new to ROS, so I would appreciate each and any suggestion on what to use and how to use it.

I have IMU and GPS connected to the robot, and willing to buy additional sensors as well, if needed

edit retag flag offensive close merge delete

1 Answer

Sort by » oldest newest most voted

answered 2017-07-04 02:03:11 -0500

Procópio gravatar image

You can follow the usual tutorials on navigation. As mentioned in another answer, tracked vehicles have a poor odometry, but that can be overcome with alternative odometry packages such as hector_slam or laser_scan_matcher.

As you are outdoors, you can also use robot_localization to integrate your GPS with other localization sources.

edit flag offensive delete link more


Thanks for the input! What do you think, would GPS + IMU data be enough for localization or would I need visual odometry as well? (Asking because it's a big outdoor vehicle and visual odometry can be hard outdoors0

Ubicray gravatar image Ubicray  ( 2017-07-05 01:45:43 -0500 )edit

I do not think that would be enough. You could try laser odometry instead of visual odom. I also suggest that you use the encoders odometry, although noisy, in the robot_localization.

Procópio gravatar image Procópio  ( 2017-07-13 03:29:14 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2017-07-03 02:38:48 -0500

Seen: 465 times

Last updated: Jul 04 '17