[ros-users] Nav Stack with nonholonomic robots

[Eitan Marder-Eppstein]

Christian,

One thing that I should have mentioned is that the pose_follower allows the
robot to move backwards. It literally just tries to move from waypoint to
waypoint along the global plan, so its important that you run it with a
planner that specifies a meaningful orientation at each waypoint... navfn,
for example, does not produce plans with this information, but something
like the sbpl_lattice_planner would.  I wouldn't recommend using the
pose_follower unless its in conjunction with a global planner that takes the
robot's footprint into account.

If you're receiving the "Not legal" error that, at least in theory, means
that something is blocking the robot from proceeding along the path.

Hope this helps,

Eitan

On Thu, Sep 9, 2010 at 5:12 AM, Christian Verbeek <
verbeek at servicerobotics.eu> wrote:

>  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
>
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