ROS Noetic GPS waypoint navigation

Hello, I am trying to get a simple waypoint navigation program that basically just takes a target coordinate and travels to it. I have the differential drive working with odometry, as well as IMU and GPS.

Asked by joshuaG on 2022-04-07 20:11:19 UTC

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One option is create an array with all the waypoints, and then create a state machine to manage the data. For example, state 1: go to point 1, state 2: wait arrive in point 1, state 3: fix the variables to go to the next waypoint, step 4: go to point 2, and continue...

All of these steps need to be validated with the odometry to guarantee that the robot really moved to the right site

Asked by lidiaxp on 2022-04-08 21:59:49 UTC

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That is the general logic I know I need to do, however, I only need one waypoint so it is much simpler. I just need to figure out how to determine the odometry needed to travel towards the waypoint.

Asked by joshuaG on 2022-04-09 09:50:49 UTC

I think Navigation stack has packages that you can use in your case: http://wiki.ros.org/navigation

Asked by ljaniec on 2022-04-09 17:44:24 UTC