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cogsys-tuebingen / gerona

GeRoNa (Generic Robot Navigation) is a modular robot navigation framework, that bundles path planning and path following (including obstacle detection) and manages communication between the individual modules. It is designed to be easily extensible for new tasks and robot models.
http://www.ra.cs.uni-tuebingen.de/forschung/gerona/
BSD 3-Clause "New" or "Revised" License
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Help: Trying to use this package to make a differential drive mobile robot follow a curved path #6

Closed vannem95 closed 5 years ago

vannem95 commented 6 years ago

Hi,

My current setup is a differential drive mobile base which takes command velocity. I get the pose of the robot using aruco_mapping. I got ros's navigation to work but i couldn't move it on a curved path(it only does turn and go motion).

Is it possible to use gerona to make my bot follow a curved path? If so, what is the easiest way to do it?

Thanks in advance

Gohus commented 6 years ago

Hello vannem95,

yes, GeRoNa allows you to plan and follow any path with arbitrary curvature. And a differential drive is supported with several different controllers.

Perhaps the easiest way would be to try out these simple examples provided by betwo: gerona examples.

To use a differential drive controller, you can choose any of the compatible controllers from the table provided here.

I hope this helps. If you have any further questions, just let us know!