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Looking for Guidance on GPS Waypoint Navigation Using the Clearpath Jackal

asked 2021-11-01 12:23:58 -0500

sageedwards gravatar image

Good day,

I have recently obtained the Clearpath Jackal and want to start off by setting it up to path following via GPS waypoints in ROS Melodic. My ROS experience is limited to working with MOCAP data which seems to be much more simple to use than GPS in an out door environment. If there is any code or tutorials out there already that will be very helpful, please let me know. Thanks!

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Make sure you understand the accuracy limitations of GPS. Even with RTK enhancement, my experience is that GPS isn't accurate enough to reliably keep a wheeled robot on a one meter wide sidewalk.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-11-02 16:17:35 -0500 )edit

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answered 2021-11-01 12:44:41 -0500

osilva gravatar image

To start with, I suggest to go over the Jackal tutorials:

Clearpath also offers a GPS Navigation package:

Finally for GPS Waypoint navigation I recommend Nick Charron Husky tutorial that can be adapted to Jackal:

The outdoor navigation package offers:

  • gps_waypoint to read the waypoint file, convert waypoints to points in the map frame and then send the goals to move_base

    • gps_waypoint_continuous1 and gps_waypoint_continuous2 for continuous navigation between waypoints using two seperate controllers

    • collect_gps_waypoint to allow the user to drive the robot around and collect their own waypoints

    • calibrate_heading to set the heading of the robot at startup and fix issues with poor magnetometer data

    • plot_gps_waypoints to save raw data from the GPS for plotting purposes

    • gps_waypoint_mapping to combine waypoint navigation with Mandala Robotics' 3D mapping software for autonomous 3D mapping

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thank you!

sageedwards gravatar image sageedwards  ( 2021-11-08 10:26:41 -0500 )edit

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Asked: 2021-11-01 12:23:58 -0500

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Last updated: Nov 01 '21