A little description of the controllers

nickcharron / waypoint_nav

This package performs outdoor GPS waypoint navigation using move_base, robot_localization, gmapping and others. It can navigate while building a map, avoiding obstacles, and can navigate continuously between each goal.

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A little description of the controllers #16

Open tahir1069 opened 3 years ago

tahir1069 commented 3 years ago

Hi I've seen your repository and I was wondering if you can share alittle details of the two controllers used in the repo?

nickcharron commented 3 years ago

the move_base package takes care of all controls. I simply send it a navigation goal and a map, and it drives to it.

The reason there are two is because when we had a lot of waypoints, the robot would slow down and stop at each waypoint before then grabbing the next goal and navigating there. This was very slow. As a quick fix (not an ideal fix), I started up two move_base nodes, sent them alternating goals and as soon as I got close to one goal, I'd switch to the next controller.