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Only released in EOL distros:  

Package Summary

The DAF Path Follower provide control commands (linear and rotational velocity) based on given path designated to follow. Basic idea of DAF Path Follower is to follow localy defined short path by lookahead distance parameter. Local path need to have more than one point defiend to succesfull applay DAF Path Following. The DAF Path Follower uses geometrical properties to fit a basic shape of a circel to a given local path.

  • Maintainer: Peter Lepej <peter.lepej AT um DOT si>
  • Author: Peter Lepej <peter.lepej AT um DOT si>, Johannes Maurer <johannes.maurer AT ist.tugraz DOT at>
  • License: BSD
  • Source: git https://github.com/johmau85/tedusar_ros_pkg.git (branch: master)

Overview

The tedusar_daf_path_follower is a simple but efficient path follower for skid-steered/differential drive mobile robots as part of tedusar_ros_pkg repository. To control path follower a tedusar_nav_msgs package is needed which define control messages.

Dynamic Arc Fitting Path Follower

The DAF Path Follower provide control commands (linear and rotational velocity) based on given path designated to follow. Behaviour of the DAF path follower can be adapted to your needs with given Parameters.

ROS Parameters

- base_link (string):

- pub_cmd_hz (double):

- path_topic (nav_msgs/Path):

- pose_update_topic (nav_msgs/Odometry):

- imu_data (sensor_msgs/Imu):

- out_cmd_vel (geometry_msgs/Twist):

- max_lin_vel (double):

- min_lin_vel (double):

- max_rot_vel (double):

- min_rot_vel (double):

- executin_period (double):

- global_goal_tolerance (double):

- enable_angle_compensation (bool):

- enable_ground_compensation (bool):

- enable_velocity_compensation (bool):

- stability_angle (double):

- show_local_path_planning (bool):

Launch File Examples

Start a tedusar_path_follower process with default parameter setings.

 $ roslaunch tedusar_daf_path_follower daf_path_follower_default.launch

Other Documentation

Publication:


2019-06-15 13:14