Eitan, Tully, Jack, Thanks for your help. I looked through the ART code, and it seems to me they have divided up the code into task specific controllers for e.g. following lane, u-turn etc. rather than using a single control algorithm like DWA. It seems that most of the Urban Challenge teams did this... is there a reason why? Is it that generic controllers aren't good enough for Ackerman drives? What we are looking at is something along the lines of LAGR, but in much more constrained spaces (indoor). I think I will start by modifying DWA. That might be of most use to the ROS community as well. ~Deepak "Jack O'Quin" Sent by: ros-users-bounces@code.ros.org 12/08/2010 07:07 PM Please respond to User discussions To User discussions cc Subject Re: [ros-users] controllers for car-like robots On Wed, Dec 8, 2010 at 8:32 PM, Tully Foote wrote: > Hi Deepak, > > I'm not familair with the ART codebase but you may want to look here > http://www.ros.org/wiki/art_nav That package does drive a car with Ackermann steering. It's pretty specific to the 2007 DARPA Urban Challenge in terms of road map input and navigation requirements. Probably not what you want, but you're welcome to use whatever might help. The stack is art_vehicle. We'd like to make a more ROS-style navigation implementation. If you're interested maybe we could collaborate on that. -- joq _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users