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[Nav2] Ackermann drive robot controller parameters

asked 2021-05-25 11:43:50 -0600

spoluri gravatar image

If I understand correctly, when dealing with an ackermann drive robot (car-like), purepursuit algo for controller server works well with DUBIN algo in the smac planner. TEB works with both DUBIN and REEDS_SHEPP. Am I understanding this correctly?

In purepursuit controller params, I don't see any param that indicates backward velocity and hence it looks like REEDS_SHEPP won't work with it.

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answered 2021-05-25 16:23:31 -0600

Indeed, there's even a ticket open to implement the reeds-shepp following in RPP It wouldn't be particularly hard to do, I just haven't had time to get to it yet. Might be something you could contribute if you need it!

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I would like nothing more than to contribute to make the nav2 package richer. However, I am still new to Robotics, so it will take a few weeks before I am contributing.

Given RPP does not yet support Reeds-shepp, I am using TEB local planner. In your announcement about nav2 in october, you indicated that someone had tested the smac+reeds_shepp+teb_local_planner configuration. Is it possible to share these tested parameter config files (yaml)?

spoluri gravatar image spoluri  ( 2021-05-25 16:55:24 -0600 )edit

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Asked: 2021-05-25 11:43:50 -0600

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Last updated: May 25 '21