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I am building a path planning and obstacle avoidance bot using ros, lidar, etc . Can someone please provide a python program to implement?
Use navigation stack of ROS. You will probably need to learn more stuff, but otherwise you would reimplement massive amount of parts, which is imo loss of time.
Doing this from ground up in python is ...
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Accepted
Why is the C- Space topology for a 2R robot a torus?
The torus doesn't represent the actual motion of joints in space it is used to represent the C-space only.
You need a C-space that can represent all the combinations of two different angles i.e., all ...
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Rigorous terminology clarification - Path Planning, Path Following, Trajectory Planning, Trajectory Following and Motion Planning
Well I think you got it right for the differentiation.
Path planning is about generating a path, that is not related to time. The planning algorithm may take into account some holonomic constraints, ...
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ROS/ROS2 mapping and path following with skid-steering robot and Velodyne 3D laser
Check out the Linorobot2 github repo. I had success with just such a robot as you describe using that software.
https://github.com/linorobot/linorobot2
He has a repo called "hardware" that ...
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How to make the Navigation Stack global Path not update?
In move_base_params I changed the planner_frequency to 0. It doesn't update the route, but only when a collision with a dynamic object happens it is recalculated.
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How to make the Navigation Stack global Path not update?
Assuming that "planner_frequency" is set to 0.0, it's not really that navFn is "publishing a new path when an obstacle is found" but rather that your local planner/controller is ...
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Navigate through waypoints without stopping and shortcutting
That feels like a controller tuning thing. If you want your robot to not skip over waypoints, don't allow the controller to do so. For example, the RPP controller is specifically designed just to ...
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Can TEB or Other Local Planners Work Without move_base?
People integrate into move_base for software engineering reasons: move_base provides a convenient common interface and ...
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How to Path correction in ROS1
However, over time, the path tends to deviate.
This is how open loop systems behave and the drift happens not only due to external factors but could be due to internal factors.
if the deviation is ...
- 215
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Steer to a pose for a differential drive robot
To your question around the control math being valid, it appears to be mathematically OK, but it's not clear it will work in practice. Moves are usually profiled where you set an end point. Your math (...
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