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How to move turtlebot for a certain pre-defined distance

asked 2013-04-10 02:27:09 -0600

Anis gravatar image


We would like to write a code that makes Turtlebot move linearly to a specified distance, for example 2.3 meters.

We would like to know what will be the best strategy to implement this?

One way that we thought about is to send a constant linear velocity on topic twist.twist.linear.x and stops after a certain time t such as t=distance/velocity. Is this a good approach?

is there any other better strategy?

Thanks Anis

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answered 2013-04-18 19:06:34 -0600

fergs gravatar image

One approach that is slightly better than timing is to use TF to see how far you've gone. One example I know of is using TF to measure angle in an older piece of code we used to draw a square on the ground using a TurtleBot. Doing a distance comparison should be even easier than angle comparison. In a straight line, the odometry of a Turtlebot shouldn't be too bad so TF should provide a more repeatable distance than timing (especially over longer distances at slower speeds).

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arpit901 gravatar image arpit901  ( 2016-06-06 10:12:49 -0600 )edit

answered 2013-04-10 03:58:17 -0600

prasanna.kumar gravatar image

updated 2013-04-10 04:02:01 -0600

You can send simple goals using MoveBaseAction. It's perfectly explained here. In the sample program, you can use 2.3 instead of 1 for goal.target_pose.pose.position.x or y. That should do!

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Thanks. Yes, it will work, but needs navigation stack. I tried my solution above and it worked for moving forward and backward. However, for turning an angle, it does not give satisfactory results as the angle rotated is smaller than expected

Anis gravatar image Anis  ( 2013-04-11 03:54:40 -0600 )edit

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Asked: 2013-04-10 02:27:09 -0600

Seen: 2,798 times

Last updated: Apr 18 '13