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Using art_nav as a generic controller for car-like robots

Hi,

I was looking for a ROS package which I could use as a Controller for a 4-wheeled indoor car-like robot.

We have a system which integrates a path planner, localizer, controller and other modules needed for navigation. However, the Controller doesn't work too well. Hence I was thinking if i could use another Controller and maybe modify that to the project's needs, it might work better.

In that regard, how feasible is it to use the art_nav package (which was built for the ART autonomous vehicle) for a generic 4-wheeled robot ? Is there some Documentation for the design of the algorithm ?

Are there any other Controllers ROS packages that I should take a look at ?

Thanks, Sagnik