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nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity
Apache License 2.0
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how to use full_coverage_path_planner and path_tracking_pid? #155

Open Tang-Kalman opened 1 year ago

Tang-Kalman commented 1 year ago

Thank for sharing u code. When I use full_coverage_path_planner and path_tracking_pid, I can not make it run. please help me. thanks. image

this is the launch: <?xml version="1.0"?>

Tang-Kalman commented 1 year ago

@Timple

Timple commented 1 year ago

Hi, as stated by the error, the poses should align with the path such that a diff-drive controller can follow it. Internally this controller uses these poses.

Seems like full_coverage_path_planner is publishing plans with poses not pointing in the direction of the path.

This should also be visible in rviz if you turn on visualization of the poses. Your launchfile example is missing elements for launch it unfortunately. But it should be easy to view in rviz.

It might be easier to use the tracking_pid package which does not have this requirement.

Tang-Kalman commented 1 year ago

thanks