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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Can MPPI follow the global path that represents reversing movement of the robot? #4318

Closed bojan-otsaw closed 3 months ago

bojan-otsaw commented 3 months ago

Hi ,

I have a global path planner that outputs a global path, and depending of the scenario in same cases the robot should move forward and follow the forward path. But in same scenario when a forward global path is giver and on the way moving forward the robot find an obstacle in narrow corridor that is not possible to avoid, in that case it should move reverse back and than find alternative path forward to to move to the goal position

Given this context, my question is, can the current implementation of MPPI controller follow a global path like this? If not, what will be the best way to modify it to achieve this?

Thank you very much.

SteveMacenski commented 3 months ago

Yes! See @doisyg’s ROSCon talk on this matter: https://vimeo.com/879000809/b32f8ebec4

bojan-otsaw commented 3 months ago

But my robot is AMR , not an AGV . Can not turn on the spot. So is still possible?

SteveMacenski commented 3 months ago

Please see the video. That is an autonomous robot and it also cannot just rotate on the spot. Guillaume goes over the algorithms used and how he set it up to work for what you're asking in detail.