Calculate speed and steering based on path points

asked 2018-07-31 21:03:27 -0500

AutoCar gravatar image

Hi, I am looking for a ROS solution for the following problem:

The goal is for a robot to drive autonomously following a fixed path without any obstacle. Given some key points along the the path, is there a ROS node or algorithms that can calculate and publish the speed and steering to drive the robot at 10 Hz? Suppose the robot does not drift.

edit retag flag offensive close merge delete


Can you update your question to include what you've attempted so far (e.g., have you looked at the local planners in the existing ros navigation stack? Is there a reason you don't want to use them?). If you google "path following ros" you'll find a lot of relevant content.

stevejp gravatar image stevejp  ( 2018-08-01 20:09:35 -0500 )edit

Two reasons ROS navigation stack does not work for me:

  1. The environment I am running is basically "empty world". The robot can not localize itself.
  2. This is car-line robot, can not rotate in place
AutoCar gravatar image AutoCar  ( 2018-08-01 20:33:11 -0500 )edit

Just to clarify based on (1) - are you saying you have no localization and you just want to generate a vector of commands which would hypothetically follow the path?

stevejp gravatar image stevejp  ( 2018-08-03 07:21:57 -0500 )edit

You are correcct

AutoCar gravatar image AutoCar  ( 2018-08-06 10:17:32 -0500 )edit