Let me begin by saying that I have done my obligatory "google-ing" and I know there has been discussion, but I have not found a satisfactory answer and therefore I am asking here ...
I am trying to come up with a solution for path planning for a large, custom UGV (essentially a drive-by-wire utility vehicle). I understand that the ros nav packages generally do not support "Ackermann steering" vehicles. I would like to solicit opinions on how I should proceed, here are a couple paths forward that I can see ...
Write custom base_local_planner and base_global_planners which take into account the kinematic constraints of an Ackermann steering vehicle
Use a library like MoveIt (is this even possible?)
Start from scratch and ditch move_base and everything inside
I see blog posts and such of people using ROS on their steered vehicles, but the documentation of such systems seems to be lacking. Any advice would be well appreciated!
Post score: 4
Comment by ljxiang on 2016-03-30:
Hi, would you have solved your problem?