Use of the navigation stack with a drone

asked 2018-06-07 04:24:40 -0500

StanSmooth gravatar image

Hi everyone,

is this possible to use the navigation stack with a flying robot ? (considering that we're flying on a constant altitude).

Hardware Requirements

While the Navigation Stack is designed to be as general purpose as possible, there are three main hardware requirements that restrict its use:

It is meant for both differential drive and holonomic wheeled robots only. It assumes that the mobile base is controlled by sending desired velocity commands to achieve in the form of: x velocity, y velocity, theta velocity.

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You could use some of the framework, but all of the planning & control in the navigation stack is designed for differential drive / wheeled robots.

stevejp gravatar image stevejp  ( 2018-06-07 08:06:47 -0500 )edit

Hi, fist of all thank you for your answer. Could you be more specifical ? the output of the navigation stack is a Twist message. Considering my drone could read these messages, what will be the difference comparing to a wheeled robot ?

StanSmooth gravatar image StanSmooth  ( 2018-06-15 03:55:03 -0500 )edit

Hi, I think that you can use but you will need to make wrappers to transform data and models the 2D in a 3D world. It's a interesting works be carefull with the input data to the navigation.

rdelgadov gravatar image rdelgadov  ( 2018-06-27 23:50:53 -0500 )edit