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squirrel-project / squirrel_driver

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switch between move_base planning and 8 DOF planning #130

Open mzillich opened 7 years ago

mzillich commented 7 years ago

The base controler as part of the full 8 DOF contoller accumulates drift. Also the 8 DOF planner does not replan when the path is no longer collision free. Therefore for long base trajectories move_base should be used (replans when obstacle appears, and uses precise localisation) I.e. manipulate locally using 8 DOF plan and control, with rather small base movements -> navigate near target position using move_base -> manipulate locally again This way we get the best of both worlds. Actually, there is nothing we have to do here. The top level planner takes care of moving between nav goals.

ipa-rmb commented 7 years ago

Does this still address that we should better use localization and /map frame with the 8DoF controller instead of /odom (with drift) or is this not a goal anymore? Using move_base just to get close to the goal and then switching to /odom is just descreasing the problems but not solving them. I understood from yesterday's phone call that everyone favored using /map in all circumstances. Or did I get it wrong?

mzillich commented 7 years ago

Yes, that would be bes. @philkark is that possible?

ghost commented 7 years ago

This related to the low level controller though, the planner already plans in map frame

mzillich commented 7 years ago

ok, then the base_controller.cpp has to listen to /map instead of /odom. If that is all, this is easy to fix.

ghost commented 7 years ago

Depends how the controller has been implemented. Theoretically yes, practically maybe.