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Dose Nav2 support Truck (a tractor with a trailer) Naviagation?

asked 2021-08-18 10:19:58 -0500

lionelGreg gravatar image

I tried to use nav2 for truck navigation. But after looking into the footprint setting part, I noticed that it seems only supports car-like vehicles because there are no extra parameters for setting up the trailer footprint...

void transformFootprint(
  double x, double y, double theta,
  const std::vector<geometry_msgs::msg::Point> & footprint_spec,
  std::vector<geometry_msgs::msg::Point> & oriented_footprint)

Is it mean that I need to overwrite these functions if using nav2 for truck navigation?

Thank you for your kind suggestion in advance.

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answered 2021-08-18 14:19:23 -0500

updated 2021-08-18 14:20:34 -0500

For things with changing footprints over time (mobile manipulators, trucks with trailers) Nav2 can take in a topic that can dynamically change the footprint for use. So if you use your state estimation to estimate the angles / state and publish that in the form of a polygon, you should be good to go on that side of things, but that doesn't help you much on the planning side of things, you'd need to write your own plugins that takes into account the full state.

That's an unusual enough situation that it isn't something we support in Nav2 itself. If someone wants to donate a planner to work with robots with back hitched loads, I'd consider it for addition, but not something I'd plan to write myself as the primary maintainer anytime soon.

Overall though, don't worry about the footprint, that's not really that interesting. That's mostly used for the planner / controller to do collision detection. But if you have your own algorithms to plan knowing the kinematics of your setup, you don't need to use the costmap's footprint interpretation.

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Asked: 2021-08-18 10:19:58 -0500

Seen: 85 times

Last updated: Aug 18 '21