ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

ROS Noetic GPS waypoint navigation

asked 2022-04-07 20:11:19 -0500

joshuaG gravatar image

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.

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted

answered 2022-04-09 17:44:24 -0500

ljaniec gravatar image

I think Navigation stack has packages that you can use in your case:

edit flag offensive delete link more

answered 2022-04-08 21:59:49 -0500

lidiaxp gravatar image

updated 2022-04-08 22:00:26 -0500

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

edit flag offensive delete link more


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.

joshuaG gravatar image joshuaG  ( 2022-04-09 09:50:49 -0500 )edit

Question Tools

1 follower


Asked: 2022-04-07 20:11:19 -0500

Seen: 526 times

Last updated: Apr 09 '22