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ros navigation driving principle

asked 2020-03-23 03:26:20 -0500 gravatar image

updated 2020-03-23 03:40:18 -0500


I have one question.

As a mobile robot, I know about global plans and local plans.

How can I check whether the mobile robot is going correctly or not about the plan?

The environment is indoor, IMU, lidar, RGB-D.

I would appreciate it if you let me know the information.

If you let us know, you will be rich.

Please. ㅠㅠ

Thanks for reading.

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answered 2020-03-23 13:54:44 -0500

How can I check whether the mobile robot is going correctly or not about the plan?

That is extremely use-case specific and we cannot possibly tell you. If your robot has successfully created a plan and the controller is successfully moving the robot, why would you expect that the robot wouldn't be "going correctly about the plan"?

Certainly, there's a variety of ways that navigation may be suboptimal and you may want to detect such events, but again, very use-case specific we cannot answer.

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How do you do it in general? If the global plan is a straight line, you need to know if the robot is going straight, should it go straight, and if there's a little off-the-road, shouldn't there be a way to get back to the global plan? gravatar image  ( 2020-03-23 18:20:19 -0500 )edit

Anywhere the tfBuffer_ variable is used to lookup transformations.

stevemacenski gravatar image stevemacenski  ( 2020-03-24 21:38:07 -0500 )edit

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Asked: 2020-03-23 03:26:20 -0500

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Last updated: Mar 23 '20