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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 ...

  1. Write custom base_local_planner and base_global_planners which take into account the kinematic constraints of an Ackermann steering vehicle

  2. Use a library like MoveIt (is this even possible?)

  3. 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!


Originally posted by baronep on ROS Answers with karma: 106 on 2015-09-04

Post score: 4


Original comments

Comment by ljxiang on 2016-03-30:
Hi, would you have solved your problem?

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3 Answers 3

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I suggest writing global and local planners that support an Ackermann vehicle. You'll have to extend move_base so that it can publish AckermannDriveStamped messages to ackermann_cmd instead of publishing Twist messages to cmd_vel. You might want to write some recovery behaviors that will work with an Ackermann vehicle.


Originally posted by Jim Rothrock with karma: 792 on 2015-09-07

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Post score: 1

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I suggest you check the Ackermann Group page. The discussion about controlling an Ackermann vehicle has been going on for some time now and I'm sure you can find lots of useful resources there.


Originally posted by Procópio with karma: 4402 on 2015-09-08

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Comment by baronep on 2015-09-08:
I have been monitoring this interest group and it doesn't look like there has been any movement in the past year.

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So since posting this question, one of the base local planners has been extended to incorporate the kinodynamic constraints associated with an ackermann drive vehicle. Check out

TEB_LOCAL_PLANNER

I have not managed to get it running too robustly but that may just be a problem with my configuration. Good luck


Originally posted by baronep with karma: 106 on 2016-03-31

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Post score: 2


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Comment by croesmann on 2016-04-01:
thanks for suggesting the planner ;-) I am going to improve the support of carlike robots in a few weeks (april/may). Currently the planner assumes a circular robot for collision avoidance, which is often not the case (especially for carlike robots). But you might give it a try even now.

Cheers

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