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Is navigation2 (ros2) configurable for non-holonomic robots?

asked 2020-02-06 04:34:16 -0500

lorenzo
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I want to use ros2 navigation with a non-holonomic robot (wheelchair)..Is it possible/configurable?

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Isn't there a confusion between non-holonomic and holonomic? I always struggle to tell them apart, but I assumed a differential drive robot is holonomic (likely a wheelchair) and a bicycle or car are non-holonmic?

LennartL ( 2020-08-18 10:53:56 -0500 )edit

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answered 2020-02-06 12:53:31 -0500

stevemacenski

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Short answer: yes.

Long answer: yes, the demos are the turtlebot3, which is a differential drive robot. I assume that your robot wheel-chair is also differential drive? It would be a little strange if it were ackermann, but that would be pretty cool.