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Car-like robot navigation

asked 2018-07-29 22:55:42 -0500

AutoCar gravatar image

Hi, I am building a MIT-Racecar, a so called "Car-like robot". I found a lot of features in current ROS navigation stack did not work on Car-like-robot. I am wondering if there is any existing navigation ROS software for car-like-robot.

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What features?

jayess gravatar image jayess  ( 2018-07-29 23:08:39 -0500 )edit

I'm guessing planning, as the default local planners do not work with Ackermann steering. You'll probably want to take a look at teb_local_planner.

I do +1 @jayess' question though: @AutoCar: simply stating that things "did not work" is not enough.

gvdhoorn gravatar image gvdhoorn  ( 2018-07-30 06:10:01 -0500 )edit

mostly in planning, since car-like-robot can't rotate in place.

AutoCar gravatar image AutoCar  ( 2018-07-30 13:01:53 -0500 )edit

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answered 2018-11-07 02:56:55 -0500

ZengLei gravatar image

Hi, you can try teb_local_planner. Yes, car-like-robot can't rotate in place, so you can set the parameter min_turning_radius of this planner as you need, and there's a detailed tutorial for Planning for car-like robots. link text

Hope it will help.

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Asked: 2018-07-29 22:55:42 -0500

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Last updated: Jul 29 '18