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

Roberto Guzmán rguzman at robotnik.es
Sun Jan 29 07:50:02 UTC 2012


we have also used the sbpl_lattice_planner for our Summit robot (see

We would like to take part in teh development of a common interface.

Best Regards,


2012/1/29 Piyush <piyushk at gmail.com>

> Thanks for everyone's feedback on this. I was not aware that a version
> of the local planner for ackermann navigation existed. Austin, if you
> think your solution is reusable, would you mind adding your solution
> as one of the answers here:
> http://answers.ros.org/question/27/how-can-i-use-the-navigation-stack-on-a-carlike
> (I suspect this would directly follow up on Chad's answer)
> The initial port of our navigation code will be completely independent
> of the navigation stack. However if we can decide on a common
> interface, then with a bit of effort we may be able to choose between
> different navigation solutions. Stefan, I for one would definitely be
> interested if you moved your solution to open source. We probably
> won't be working with a terrain as difficult as RoboCup Rescue, but it
> might be useful nonetheless to take a look at it.
> Jack, what is the best place on the wiki to setup a group for this?
> Thanks
> Piyush
> On Sat, Jan 28, 2012 at 11:18 AM, Jack O'Quin <jack.oquin at gmail.com>
> wrote:
> > On Sat, Jan 28, 2012 at 10:52 AM, Stefan Kohlbrecher
> > <stefan.kohlbrecher at googlemail.com> wrote:
> >> Hi,
> >>
> >> we use a Ackermann-driven based UGV for search and rescue scenarios.
> >> It is based on a Kyosho Twinforce RC chassis (image for example here:
> >> http://www.gkmm.tu-darmstadt.de/rescue/?q=node/8 ). We also use the
> >> sbpl_lattice_planner for generating motion plans, but found the
> >> navigation stack to be suboptimal for our application, as the vehicle
> >> dynamics plus harsh terrain of the NIST standard arenas used for
> >> RoboCup Rescue violates some of the assumptions made in the navigation
> >> stack. For a 100kg+ platform moving on flat ground, the assumption
> >> that odometry provides a stable short term reference frame for example
> >> is very reasonable. For a <10kg vehicle going over pitch/roll ramps
> >> OTOH there basically is no trustable odometry (see for example 1:05 in
> >> this video: http://www.youtube.com/watch?v=nI1DWboC73w ,shows only
> >> reactive driving as our planner back then did not work correctly)
> >> So our current approach is to use SBPL based plans and not use a local
> >> planner as provided by the navigation stack. The whole plan (generated
> >> from SBPL or another planner) is sent to the vehicle controller, which
> >> then closely follows it. The low level control system of the UGV
> >> incorporates  a EKF-based INS that fuses data from inertial/magnetic
> >> (IMU) sensors, SLAM pose estimates and wheel encoders and thus can
> >> follow the plan nicely. I'll try to make a video of it in simulation
> >> in the next few days. The code is not available in our open source
> >> repository, but that might change if interest is there.
> >
> > I think there is definitely enough interest to justify creating an
> > Ackermann steering interest group. There are many aspects to it,
> > including navigation, interfaces and simulation.
> >
> > As a start, I suggest creating a wiki page to share links to code and
> > techniques. Perhaps it could evolve into a project team to develop and
> > maintain ROS packages for dealing with that type of vehicle.
> > --
> >  joq
> > _______________________________________________
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Roberto Guzman
Departamento de Ingenieria
Robotnik Automation, SLL
C/Berni y Catala, 53 bajo
Tel:       +34 963383835
Fax:      +34 963383580
E-mail:  rguzman at robotnik.es
Internet:  http://www.robotnik.es

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