hanks's profile - activity

@gvdhoorn I think I have actually solved the problem, there was something wrong with the 2D map pgm file itself as I men

@gvdhoorn I think I have actually solved the problem, there was something wrong with the 2D map pgm file itself as I men

Process crashes without any error I have written a hybrid a* package for ROS and I'm testing the implementation through

The problem was with the path being passed, I've solved it now. Thanks!

I am trying to write a custom global planner using this tutorial. I am not computing my path in this global planner, all I want to do is make this global planner pass on a path that is computed by my other package to the move_base/local planner. How do I define a subscriber and its callback function in the plugin so that it takes in the published path? Trying to execute option 2 from this answer.

I did implement this exactly as you mentioned and it partly works. The solution is received from another node where the

I did implement this exactly as you mentioned and it partly works. The solution is received from another node where the

@mgruhler Here is my new question - https://answers.ros.org/question/374307/how-to-use-a-subscriber-in-a-global-planner-

@mgruhler Hey, I have created a package that computes a global path and I want to execute option 2 from your answer wher

I already have a working package that computes the path, don't want to convert it to a plugin class right now. I am able

How to use a subscriber in a global planner plugin? I am trying to write a custom global planner using this tutorial. I

Want to clarify it is a simulation only project for now. I am building a mobile robot-trailer system for indoor environments. My setup includes a Clearpath Robotics Ridgeback robot towing a custom cart. I have changed the Ridgeback to a normal differential drive from its Mecanum drive system. I am facing two problems.

1. I am looking for a planner similar to the sbpl cart planner which can plan a path in a known (mapped) environment taking into consideration the non-holonomic nature of the system. I am running ROS Melodic and unfortunately sbpl isn't supported.

2. I designed a custom cargo cart with swivel wheels using the same wheels provided with the Ridgeback model. The entire cart is attached to the robot aligned to its rear axel. Whenever I move the robot, the wheels do not align themselves to the direction of movement even though they swivel. And as the robot is stopped, the cart keeps drifting on its own.

Please help me with these problems.

@DubinsCar I am currently implementing the Hybrid A* algorithm in C++ for ROS but am unable to figure out how to impleme

@tryan, you are indeed correct. 0.0001 was a little too much as the wheels didn't remain in contact with the ground but

Hey @tryan, I have started another question with some issues I'm facing. Here is the link - https://answers.ros.org/ques

Hey @tryan, I have started another question with some issues I'm facing. Please take a look if possible, thanks.

Continuous joints don't rotate/work I am working on a project where I have attached a custom-designed four-wheel cart on

Continuous joints don't rotate/work I am working on a project where I have attached a custom-designed four-wheel cart on

Continuous joints don't rotate/work I am working on a project where I have attached a custom-designed four-wheel cart on

Continuous joints don't rotate/work I am working on a project where I have attached a custom-designed four-wheel cart on

Continuous joints don't rotate/work I am working on a project where I have attached a custom-designed four-wheel cart on

Thank you for all your help. The friction and damping values have solved the drift problem. The new problem is, since th

I am working on a project where I have attached a custom-designed four-wheel cart on the rear axle of the Clearpath Robotics Ridgeback robot. I have two problems -

1. The cart is attached with an underactuated continuous joint of which the value/position can be changed using the joint_state_publisher, but when the robot-trailer system is moved, the change in the orientation as in Gazebo is not reflected/visualized in rviz. The same problem exists with the wheels of the cart which are also underactuated. How do I get them visualized as their state changes in Gazebo?

2. The cart keeps drifting about its hitch axis on its own when the robot is moved. I tried adding weight/payload on the cart but it didn't make a difference. I did set the coefficients of friction to zero as the robot model also had them set to zero. I'm not able to figure out the appropriate setup which can solve this problem.

Here are some pictures of the system I am using - https://drive.google.com/file/d/1xkEU... https://drive.google.com/file/d/1Xz2B... https://drive.google.com/file/d/1Tjo3...

Please help me solve these problems. Thank You.