search

ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
Other
2.48k stars 1.25k forks source link

Final orientation cannot be reached for Ackermann vehicles #3573

Closed HarunTeper closed 1 year ago

HarunTeper commented 1 year ago

Hello,

I am currently configuring the Nav2 stack for an ackermann vehicle and I am having issues with the planner and controller for the final orientation. Specifically, the planner always recreates a new circular path around the goal pose, while the controller is not able to reach the final goal pose orientation.

My nav2 configuration can be found here: https://github.com/HarunTeper/AuNa/blob/main/src/auna_nav2/config/nav2_params/nav2_params.yaml I'm using Ubuntu 20.04 and ROS2-Galactic.

I am using the nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitControllerand the nav2_smac_planner/SmacPlannerHybrid for the navigation.

What should I change to prevent this behavior?

Rodrag commented 9 months ago

Hi there, did you find a fix for this, working on the same issue atm

HarunTeper commented 9 months ago

@Rodrag I changed the global planner to SmacPlannerHybrid, to make the car plan according to its kinematic constraints. You may also change the local planner to RegulatedPurePursuit, and add a converter node to change the output from unicycle to bicycle or Ackermann model as well.