[ros-users] Generic interface for Ackermann Steering based robots

[Austin Hendrix]

My personal robot is a ackermann-styke rover based on a traxxas slash. I have most of thenavigation stack up and running; in particular, my base subscribes to cmd_vel in the same way as a traditional base, and publishes the standard odometry messages and frames for the navigation stack. I'm using the sbpl_lattice_planner as the global navigation planner, and a custom local planner that deals with the constraints of an ackermann base.

The stack with my local planner is at https://github.com/trainman419/Senior-Project/tree/interrupts/ros/ackermann_local_planner . It's a start, but it has a bug in that it doesn't deal with points on the path where the robot reverses direction; rather than target the reverse point, it targets some point past the reverse.

My robot and navigation stack configuration is in this package: https://github.com/trainman419/Senior-Project/tree/interrupts/ros/dagny . Note that I have the navigation stack parameters tuned well below normal, becuase I am running a very slow processor (500MHz AMD Geode).

-Austin

Piyush <piyushk at gmail.com> wrote:

>Hi ROS users,
>
>I was wondering whether there was some interest in the community to
>develop a common interface for Ackermann steering based robots. We
>have an autonomous car using ROS (utexas-art-ros-pkg) for which we use
>a proprietary message format to control the driver. We are now trying
>to port over the code-base for a number of smaller robots based on the
>traxxas platform to ROS. We were hoping to discuss the driver
>interface along with an interface for some basic GPS based navigation
>for the traxxas robots.
>
>In case there are existing examples for this this type of work
>already, I would appreciate it if someone could point them to me.
>
>Thanks,
>Piyush
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