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ros-navigation / navigation2_tutorials

Tutorial code referenced in https://docs.nav2.org/
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MPPI tutorial #72

Closed ARK3r closed 11 months ago

ARK3r commented 11 months ago

Hey @SteveMacenski,

not sure which discourse post this was but I remember you mentioned there aren't any good Ackermann urdfs to make a demo for MPPI.

I've been trying to add a steering controller demo to ros2_control_demos, so I made a CarlikeBot which you can find here. You can use ros2 launch ros2_control_demo_example_11 view_robot.launch.py to take a look.

I don't promise changes won't be made to it, and I don't know how realistic the physical attributes of it are as I just copied what I found for diffbot, but hopefully, it can be a good starting point. I'd also be glad to contribute to this tutorial, though I'm new to nav2.

SteveMacenski commented 11 months ago

Got it! I really appreciate the note :smile:

However, what we're looking for is something reliably tried and true so we know issues that come up are due to Nav2 / algorithms and not due to the simulator model not being setup precisely correct to model a real vehicle. As such, unfortunately I don't think this will be much use to us until its validated against a real robot model (which would probably take a researcher on RC cars or a company building larger vehicles to provide a model) :frowning:

Thank you for the note though and hopefully this will get use for others to get started with!