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1D positioning using robot_localization package

asked 2018-12-06 02:48:04 -0500

Nuppo gravatar image

I've recently started learning about ROS. I am currently working on a project where I am designing a vehicle. This vehicle contains 2 motors. Main motor which is a brushless DC is driving rear wheels and a secondary servo motor controls the rotation of the vehicle over a single front wheel. This vehicle currently contains an encoder attached on one of the rear wheels, an IMU and GPS module. I need this vehicle to move an amount in a straight line then repeat this movement specified number of times. Therefore, I need to implement 1D position tracking. My question is "With this number of sensors and using ROS robot_localization package, will I be able to do 1D positioning?"

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answered 2019-01-28 02:31:46 -0500

Tom Moore gravatar image

If the vehicle is running in a straight line, then unless you want to use accelerometer data from the IMU or position data from the GPS (not recommended, unless it's very accurate), I think you'd be better off just integrating the wheel encoder data yourself. Can you maybe describe what you want the vehicle to do in more detail? Do you want it to drive straight forward, then return to its exact starting position, and repeat, or will you reset it to its original position? How long is the straight line that you want it to drive?

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Asked: 2018-12-06 02:46:57 -0500

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Last updated: Jan 28 '19