Car-like robot navigation

Question

Hi, I am building a MIT-Racecar, a so called "Car-like robot". I found a lot of features in current ROS navigation stack did not work on Car-like-robot. I am wondering if there is any existing navigation ROS software for car-like-robot.

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Originally posted by AutoCar on ROS Answers with karma: 102 on 2018-07-29

Post score: 1

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Original comments

Comment by jayess on 2018-07-29:
What features?

Comment by gvdhoorn on 2018-07-30:
I'm guessing planning, as the default local planners do not work with Ackermann steering. You'll probably want to take a look at teb_local_planner.

I do +1 @jayess' question though: @AutoCar: simply stating that things "did not work" is not enough.

Comment by AutoCar on 2018-07-30:
mostly in planning, since car-like-robot can't rotate in place.

Answer 1

Hi, you can try teb_local_planner. Yes, car-like-robot can't rotate in place, so you can set the parameter min_turning_radius of this planner as you need, and there's a detailed tutorial for Planning for car-like robots. link text

Hope it will help.

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Originally posted by ZengLei with karma: 36 on 2018-11-07

This answer was ACCEPTED on the original site

Post score: 1