How would you execute a 3D path on a mobile robot?
I have a differential drive mobile robot that can generate obstacle free, continuous 3D paths (poses) over some non-flat 3D space. I'm trying to figure out what the best way to actually execute the path on the robot (I.E the job move_base would do in 2D). Wouldn't a simple control loop suffice to follow the path over uneven terrain, or is there more to it?
Nope, its just that simple if you want to start off that way. At the end of the day the robot can only move in a locally planar way: go straight, turn, or a little of both. You just need to make it follow the path carrots projected into the configuration space the robot can do something about. A simple way to start is just to literally throw out the Z coordinate and feed it the XYs.
The Z isnt really important from the base control perspective for a simple starting point as long as the path is valid for the diff drive robot to accomplish