On Wed, Dec 8, 2010 at 5:21 PM, <DRamachandran@hra.com> wrote:

Apologies if this question has been answered before or is the wrong question or something. I am not an expert in this area.

We would like a controller for a robot with car-like kinematics. DWA and trajectory rollout assume that the robot can have an
independent rotational velocity but this is not possible in our robot. It is 4-wheeled and has a steering angle for the front two wheels which
controls the change in heading in conjunction with the forward velocity. �I already have a high level planner for generating a plan from init to goal
based on an A* like algorithm but we need a low-level controller. What is the best solution using ROS? �Should I modify DWA /TR so that it can
sample trajectories with car-like dynamics? Is this already implemented somewhere?

I don't think this has been done, though I may just not know about it. If you do decide to modify DWA / TR to provide support for this, I'd be happy to take a patch back. Alternatively, you could write your own local planner that adheres to the BaseLocalPlanner interface,�http://www.ros.org/wiki/nav_core#BaseLocalPlanner, and release that as a standalone package.

Hope all is well,

Eitan

��

Thanks,
~Deepak
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