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Published 20 hours ago • verified publisher icon at-wat

Omni drive base

Open yutakaoka opened this issue 7 years ago • 4 comments

Hi,

Is there any function of trajectory_tracker for omni-base? Does it support for diff-drive only for now?

Thanks,

yutakaoka avatar Nov 02 '17 23:11 yutakaoka

Currently, trajectory_tracker node only supports diff-drive control. The node is based on the diff-drive specific control method (http://ieeexplore.ieee.org/document/174452/).

at-wat avatar Nov 03 '17 08:11 at-wat

Hi @at-wat

Does the current version of trajectory_tracker support the skid steer drive system?

Best, Samuel

HappySamuel avatar Nov 14 '19 07:11 HappySamuel

Skid steer drive can be approximated as a diff drive with a limitation of minimum turning radius. planner_3d has a parameter min_curve_raduis and specifying this may generate a path suitable for skid steer.

at-wat avatar Dec 28 '19 03:12 at-wat

Hi @at-wat

For this min_curve_raduis, for skid-steer drive shall use value lesser than 0.1 ? or larger?

Best, Samuel

HappySamuel avatar Jan 02 '20 07:01 HappySamuel