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Is there an existing speed control node to connect the robot_localization state estimator with the diff_drive_controller?

I am using ROS Indigo on a differential drive robot for indoor use (no GPS). The path is pre-determined and the velocity along the path is to be controlled. I believe that move_base node would be overkill and probably would not work in this case. Speed along path needs to be at a certain rate and if an obstacle is detected the unit will stop and send an alarm. I think a 2-D PID speed controller (linear and angular vel.) and a path planner that reads from the pre-planned path and provides the commanded 2-D speed is all that is needed. Is there an existing ROS node I could use or modify?