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Waypoints with orientation + Smooth trajectory

Hello,

I have a ground robot ( 4 wheels like a car) a I have my missions defined by a set of waypoints ( x, y, yaw (position and orientation)). I want that my robot moves through these waypoints with the specified orientation in each waypoints. The path should be smooth (using splines or Bezier curve) but intersect the waypoints.

Does anyone known any package for this purpose?

Regards, Filipe

Waypoints with orientation + Smooth trajectory

Hello,

I have a ground robot ( 4 wheels like a car) a I have my missions defined by a set of waypoints ( x, y, yaw (position and orientation)). I want that my robot moves through these waypoints with the specified orientation in each waypoints. The path should be smooth (using splines or Bezier curve) but intersect the waypoints.

Does anyone known any package for this purpose?

Regards, Filipe

Waypoints with orientation + Smooth trajectory

Hello,

I have a ground robot ( 4 wheels like a car) a I have my missions defined by a set of waypoints ( x, y, yaw (position and orientation)). I want that my robot moves through these waypoints with the specified orientation in each waypoints. The path should be smooth (using splines or Bezier curve) but intersect the waypoints.

Does anyone known any package for this purpose?

Regards, Filipe