Want to clarify it is a simulation only project for now.
I am building a mobile robot-trailer system for indoor environments. My setup includes a Clearpath Robotics Ridgeback robot towing a custom cart. I have changed the Ridgeback to a normal differential drive from its Mecanum drive system. I would like to incorporate this path_planner to the system, is there a way I can model my systems' kinematic constraints to the planner?
Another issue is, I am using Hector SLAM to map the environment which outputs a 2048 x 2048 map image (pgm) with a resolution of 0.05. I am not able to figure out how to tune this planner to work with that map. I tried changing the resolution and vehicle size constants but the it didn't work. The hybrid_astar node crashes as soon as I add a initial_pose and nav goal.
Also getting the following error - [ERROR] [1611054999.409444557]: Ignoring transform for child_frame_id "map" from authority "unknown_publisher" because of a nan value in the transform (nan 0.000000 0.500000) (0.000000 0.000000 0.000000 1.000000)
Want to clarify it is a simulation only project for now. I am building a mobile robot-trailer system for indoor environments. My setup includes a Clearpath Robotics Ridgeback robot towing a custom cart. I have changed the Ridgeback to a normal differential drive from its Mecanum drive system. I would like to incorporate this path_planner to the system, is there a way I can model my systems' kinematic constraints to the planner?
Another issue is, I am using Hector SLAM to map the environment which outputs a 2048 x 2048 map image (pgm) with a resolution of 0.05. I am not able to figure out how to tune this planner to work with that map. I tried changing the resolution and vehicle size constants but the it didn't work. The hybrid_astar node crashes as soon as I add a initial_pose and nav goal.
Also getting the following error - [ERROR] [1611054999.409444557]: Ignoring transform for child_frame_id "map" from authority "unknown_publisher" because of a nan value in the transform (nan 0.000000 0.500000) (0.000000 0.000000 0.000000 1.000000)
What should be done?