Ackermann vehicle navigation

asked 2018-07-21 11:30:26 -0500

AutoCar gravatar image

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?

/diagnostics /imu/data /imu/mag /joy
/laser_status /odom /rosout   
/rosout_agg /scan /tf /tf_static   
edit retag flag offensive close merge delete


One way would be to to write a node which converts cmd_vel to /vesc/commands/motor/speed for each wheel. You can also publish to /vesc/commands/motor/duty_cycle /vesc/commands/motor/position /vesc/commands/servo/position
it's very similar to what you do in vesc tool

Combinacijus gravatar image Combinacijus  ( 2021-04-28 14:25:21 -0500 )edit