Moving a mobile base from waypoint to waypoint using aruco markers and possibly making use of a PID controller

asked 2017-09-03 19:54:42 -0600

eric_cartman gravatar image

The goal is to move a mobile base(which takes cmd_vel) from (x1,y1,theta_1) to (x2,y2,theta_2). I am using aruco_mapping which give the x,y and angle. It should rotate to theta_2 and reach the desired waypoint (x2,y2). I am not sure if its possible to execute a pid controller to minimize overshoots and undershoots.

Is there an existing package to perform these things well or do i have to do it on my own?

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Have you seen the ROS Navigation Stack?

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-09-03 22:35:50 -0600 )edit

It seemed a bit complex and as i am using just the camera/aruco markers to provide feedback and nothing else. Do you know what specifically in navigation i should check out for solving my problem?

Thanks in advance.

eric_cartman gravatar image eric_cartman  ( 2017-09-04 16:33:52 -0600 )edit

Going from (x1, y1) to (x2, y2) is a lot more complex than it seems. You can't rely on PID type controllers as the final position depends on the speed integrated over time, not just the wheel displacement. See the navigation turtorials.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-09-04 17:43:44 -0600 )edit

You'll essentially give the nav stack your aruco_mapping estimate of where you are as the odom input message. It should handle path planning and produce a cmd_vel. It'll take a while to set up and get working, but there plenty of help and tutorials out there, and it will do exactly what you want.

ufr3c_tjc gravatar image ufr3c_tjc  ( 2017-09-04 17:45:10 -0600 )edit

Thanks. I will look into that.

eric_cartman gravatar image eric_cartman  ( 2017-09-04 17:51:27 -0600 )edit