[ros-users] Nav Stack with nonholonomic robots

[Christian Verbeek]

 Eitan,

I compiled the pose_follower and loaded it instead of the
base_local_planner. But still I am missing something. rviz does not show
a global plan any more. The robot moves, but backwards and the log gives
me the "Not legal" error from pose_follower.cpp line 169.

My launch files look like this and I think by kicking out the
base_local_planner I damaged something vital.

************ move_base.launch
<include file="$(find amcl)/examples/amcl_diff.launch" />

<node pkg="move_base" type="move_base" respawn="false" name="move_base"
output="screen">
    <rosparam file="$(find
f5_navigation)/config/costmap_common_params.yaml" command="load"
ns="global_costmap" />
    <rosparam file="$(find
f5_navigation)/config/costmap_common_params.yaml" command="load"
ns="local_costmap" />
    <rosparam file="$(find
f5_navigation)/config/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find
f5_navigation)/config/global_costmap_params.yaml" command="load" />
    <!--<rosparam file="$(find
f5_navigation)/config/base_local_planner_params.yaml" command="load" />-->
    <rosparam file="$(find
f5_navigation)/config/pose_follower_params.yaml" command="load" />
  </node>

  <node name="map_server" pkg="map_server" type="map_server"
args="$(find f5_robotinosim)/F5_Halle.yaml" respawn="false"
output="screen" />

***********pose_follower_params.yaml
base_local_planner: pose_follower/PoseFollower

PoseFollower:
  max_vel_x: 0.4
  min_vel_x: 0.05
  max_rotational_vel: 0.4
  min_in_place_rotational_vel: 0.15

  acc_lim_th: 3.2
  acc_lim_x: 2.5
  acc_lim_y: 2.5

  holonomic: false