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Odometry Control Ackerman #26

Closed rafacastalla closed 6 years ago

rafacastalla commented 6 years ago

I would like to know if there is a module that is in charge of positioning the car in x and y in the 2D plane using the control of Ackerman.

AutoModelCar commented 6 years ago

If you mean based on the Ackerman model, the Odometry package (version 3.1) is already implement based on it. https://github.com/AutoModelCar/model_car/blob/version-3.1-kinetic/catkin_ws/src/odometry/src/odometry_publisher.cpp

rafacastalla commented 6 years ago

I mean to mark a target on the x and y plane. Like, go to the point x = 100 and y = 300. And if not, how could it be implemented?

Me refiero a marcarle un objetivo en el plano x e y. Como, ve al punto x = 100 e y = 300. Y sino esta, como lo prodria implementar?

AutoModelCar commented 6 years ago

The fub_ controller is implemented based on the Ackerman constrains. It defines a look ahead point to make a smooth steering. https://github.com/AutoModelCar/catkin_ws_user/tree/master/src/fub_controller

rafacastalla commented 6 years ago

Okay! Thanks!