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What is the best path for an Ackermann controller?

asked 2021-03-17 07:31:53 -0600

hmearns gravatar image

updated 2021-04-02 05:58:30 -0600

Hello ROS World! This is an awesome project that I had no knowledge of prior to December. I wouldn't even be attempting my project without it. I am trying to implement an ackermann like robot. (4 wheel steering and propulsion, no crabbing, no circles in place, not at all round in shape.) I am trying to build the nav2 stack in foxy with either TEB or pursuit controller. The pursuit controller expected a "filter values" file that wasn't present, then some overrides that aren't overridden in the code. I tried to bypass these, but it just got worse. I decided that perhaps the pursuit code wasn't intended to be suitable with foxy and thought that perhaps the teb plugin would be easier for a beginner to get built because it had a foxy branch. I have been fighting with libg2o for a few days with no luck. I have the libg2o library installed in usr/local/ but the code does not seem to recognize it. It looks to me like maybe the file names it is searching for have changed format? Is it easier to fix the libg2o problem or to make pure pursuit function for me? Is this a configuration problem or a version sort of problem? On the face of it I'd rather end up with pursuit but perhaps I could work with TEB for a few months and get lots of other things working like sensors and simulations and come back to pursuit then?

I'm happy to continue climbing the learning curve, but I would really appreciate a shove in the right direction.

Thanks! Howard

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answered 2021-03-23 17:42:09 -0600

alsora gravatar image

Hi.

I think that your build issues are not related to the nav2 stack, but rather to your environment. As you can see here Continuous Integration jobs are all green, so the code builds fine on the servers.

Do you really need to build from sources? nav2 stack is available from debian packages. I assume you already followed the build and install guide: https://navigation.ros.org/build_inst...

If you still need to build from sources, then I would recommend to use the provided Docker images https://navigation.ros.org/build_inst...

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Asked: 2021-03-17 07:31:53 -0600

Seen: 237 times

Last updated: Apr 02 '21