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Is it possible to move a robot using odom without localiation but using actions particularly actionlib ?

asked 2019-05-17 05:00:28 -0500

Ned gravatar image

I want to create a test for my robot by moving it 1 meter to forward or backward but without using localization but just the odom but I still want feedback so I am wondering if it is possible to use actionlib to that

Thanks in advance.

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Thanks ! I know that I can publish velocity immieaditly but the idea is i wanna be avle to get feedback and also cancel the mission when i need.

Ned gravatar image Ned  ( 2019-05-17 06:10:31 -0500 )edit

Are you using the navigation stack to move your robot?

Carl D gravatar image Carl D  ( 2019-05-17 15:35:16 -0500 )edit

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answered 2019-05-17 06:06:48 -0500

curi_ROS gravatar image

You don't actually need actionlib to do drive using only odometry. You can subscribe to your vehicle's odometry, and publish a command velocity based on how much your odometry thinks the vehicle moved. But beware that this is subject to odometric errors like wheel slip, differences in the diameter of both the wheels, quantization errors, etc.

Here is a tutorial that might help you get started.

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If this isn't the answer you're looking for then you need to edit your question to clarify your problem more.

tfoote gravatar image tfoote  ( 2019-05-20 00:55:58 -0500 )edit

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Asked: 2019-05-17 05:00:28 -0500

Seen: 98 times

Last updated: May 17 '19