Ackermann vehicle navigation

asked 2018-07-21 11:30:26 -0600

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Hi, I am building an MIT Racecar with ackermann control and VESC. All topics this car published are list below. I can use ROS navigation stack (gmapping) to build a map. But to move autonomously, ROS navigation stack usually send out cmd_vel type of message. How can I use the ROS navigation stack to control my car then?

/ackermann_cmd   
/ackermann_cmd_mux/active   
/ackermann_cmd_mux/input/default   
/ackermann_cmd_mux/input/navigation 
/ackermann_cmd_mux/input/teleop   
/ackermann_cmd_mux/output   
/ackermann_cmd_mux/parameter_descriptions
/ackermann_cmd_mux/parameter_updates
/ackermann_cmd_mux_nodelet_manager/bond
/diagnostics /imu/data /imu/mag /joy
/laser_node/parameter_descriptions  
/laser_node/parameter_updates   
/laser_status /odom /rosout   
/rosout_agg /scan /tf /tf_static   
/vehicle_geometry/footprint   
/vesc/commands/motor/brake   
/vesc/commands/motor/current   
/vesc/commands/motor/duty_cycle   
/vesc/commands/motor/position   
/vesc/commands/motor/speed   
/vesc/commands/servo/position   
/vesc/sensors/core   
/vesc/sensors/servo_position_command
/vesc/vesc_to_odom/reset_odometry
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