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Path Message with Velocity?

asked 2019-04-02 09:57:33 -0500

rukie gravatar image

I know I can create a custom message that includes a velocity with each pose, but I'm curious for input from other developers. Is there a reason it would be detrimental to carry a speed command in nav_msgs/Path?

For context, I've got a machine that's non-holnomic and I've created a path plan. The machine is capable of high speed (20 m/s). As a part of that path following I want to determine safe speeds to avoid mishaps. This requires looking at stopping distances, safe cornering speeds, etc.

I was thinking to add geometry_msgs/Twist velocities to nav_msgs/Path, maybe call it PathWithSpeed? PathWithTwist?

Am I alone in thinking this would be a helpful standard message? Or have I totally missed some other method that would serve this purpose?

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Wouldn't a Path with velocities (and/or time, acceleration, etc) be called a trajectory?

gvdhoorn gravatar image gvdhoorn  ( 2019-04-02 10:30:13 -0500 )edit

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answered 2019-04-02 12:48:39 -0500

rukie gravatar image

updated 2019-04-02 12:49:58 -0500

Ah, I wasn't looking into the Joint Trajectories as I didn't immediately consider it applicable. I was thinking robot arms, not vehicles.

That would be it!

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Please note: a JointTrajectoryPoint encodes the desired state at a specific point in time. It does not encode "safe speeds [..], stopping distances, safe cornering speeds, etc."

gvdhoorn gravatar image gvdhoorn  ( 2019-04-02 13:38:18 -0500 )edit

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Asked: 2019-04-02 09:57:33 -0500

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Last updated: Apr 02 '19