How could I navigate with a real robot
Hello, I have a robot with 4 wheels and laser sensor ydlidar x4 , succeed to build the map with hector slam , now I don't know what to do to navigate using a static map from the actual position to B position , the robot (raspberry pi 3B) is connected via UART to an stm32 responsible for running the robot i have to send 4 caracters : "F" for front , "B" for back , "R" for right and "L" for left
Any one have any idea?
You have some work left to do before your can use navigation stack. Since you only send F,B,R,L to controller maybe a lot of work left.
Do you get any feedback from the wheels from an encoder, or maybe you are using stepper motors where you can directly control the number of steps/second?
Can you control the rate of spin on the wheels?
Can you both turn and move forward at the same time?
Navigation stack assumes you have the capability to steer your robot while moving and have some control over the speed of the robot. Navigation stack will output a velocity command and a rotate command(at the same time) and you'll need to translate that command into some your controller can use.
For wheel feedback the standard use is odometry data from encoders, but there are a couple alternate ways to get ...(more)