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.

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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 imagestevejp ( 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 imageAutoCar ( 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 imagestevejp ( 2018-08-03 07:21:57 -0500 )edit

You are correcct

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