Brian, A question about LAGR. In the TR paper referenced in the ROS docs, you say in the intro that the controller accounts for the non-zero turning radius of the robot. However in the control section you mention that it samples trajectories with pure theta-dot as well, but this should not be possible with non-zero turning radius? ~Deepak Brian Gerkey Sent by: ros-users-bounces@code.ros.org 12/09/2010 12:47 PM Please respond to User discussions To User discussions cc Subject Re: [ros-users] controllers for car-like robots On Thu, Dec 9, 2010 at 12:08 PM, wrote: > 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. FWIW, the Trajectory Rollout mode of base_local_planner (set ~dwa to False) implements an algorithm that we developed some years ago precisely for the LAGR robot. It (our earlier implementation, not the one in base_local_planner) worked very well on that vehicle. brian. _______________________________________________ ros-users mailing list ros-users@code.ros.org https://code.ros.org/mailman/listinfo/ros-users