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What kind of control system does move_base have?

asked 2013-10-27 19:36:15 -0500

basheersubei gravatar image

updated 2013-10-27 19:37:22 -0500

So I'm trying to wrap my head around which node exactly does the control system for moving a specific distance in the Navigation stack (using current velocity from /cmd_vel). I came to the conclusion that move_base is responsible for this, but now I'm wondering: what kind of control system does it implement? How does it know what cmd_vel to publish in order to reach the specific distance it must go? Is it a PID controller or something?

I'm mostly asking this just to make sure that I understand this right... I basically want to make sure that my robot moves to the designated destination in a controlled manner (not just full speed until it reaches target then stops and overshoots)...

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Which planner are you using and what ROS version?

David Lu gravatar image David Lu  ( 2013-11-01 05:38:41 -0500 )edit

I haven't started working on the Navigation stack, because I need to first figure out my base_controller (and I need to find out what it should expect from Navigation). Basically, does Navigation take care of going from one point to another in a controlled manner (without overshoot)?

basheersubei gravatar image basheersubei  ( 2013-11-01 06:32:00 -0500 )edit

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answered 2013-11-04 04:41:42 -0500

David Lu gravatar image

The local planner is the controller, taking in the global plan and outputting the cmd_vel. Specifically, the low level control (at least for the DWA planner) is handled here: https://github.com/ros-planning/navigation/blob/hydro-devel/base_local_planner/src/latched_stop_rotate_controller.cpp

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thank you for your reply. Do you have any idea where I can learn more about the latched_stop_rotate_controller and what to expect of it? Should I basically not worry about implementing a control system (for reaching goals) in my base_controller?

basheersubei gravatar image basheersubei  ( 2013-11-04 15:40:43 -0500 )edit

I noticed I can find more about it here http://wiki.ros.org/base_local_planner#LatchedStopRotateController . I will attempt to do the Navigation tutorials for now. Thanks again!

basheersubei gravatar image basheersubei  ( 2013-11-04 15:43:53 -0500 )edit

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Asked: 2013-10-27 19:36:15 -0500

Seen: 756 times

Last updated: Nov 04 '13