Turning Waypoints into controls for Husky

asked 2021-04-24 15:48:31 -0500

rosnoob123 gravatar image

Our planning algorithm currently outputs a series of waypoints instead of control signals. What is a good way to turn waypoints into controls like, cmd_steer, and cmd_velocity for the Husky robot? Is there an existing node, that subscribes to waypoints and publishes cmd_steer and cmd_velcoity for the Husky robot? I know that there is a follow_waypoints but it seems to work for kinetic and the dynamics are not specific to Husky robots. I also know that there is a Husky navigation package but don't know which part of this package is relevant. For reference, I'm on Ubuntu 18.04 with ROS melodic.

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