Ackermann Interest Group
This page provides links to all current ROS code related to Ackermann steering based robots. Discussions are aimed at producing generic interfaces for control, navigation and simulation of Ackermann robots.
Members
- Piyush Khandelwal
- Jack O'Quin
- Cedric Pradalier
- Chien-Liang Fok
- Austin Hendrix
Overview
We are interested in mobile robots using Ackermann steering geometry, as shown in this diagram (from Wikipedia). Since these robots cannot turn in place, they are difficult for the standard ROS navigation stack to support.
Diagram by User:Bromskloss [GFDL (www.gnu.org/copyleft/fdl.html) or CC-BY-SA-3.0 (www.creativecommons.org/licenses/by-sa/3.0/)], via Wikimedia Commons. Original image cropped by Andy Dingley.
Robots and code
New ackermann_msgs package (created by group discussion)
Driver interface: ackermann_msgs/AckermannDriveStamped
- Navigation: not in this package
- Release status: initial version (0.4.0) in Electric and Fuerte
- New ackermann_qt package
Driver interface: ackermann_msgs/AckermannDriveStamped
- Navigation: tele-operation only
- Marvin
Driver interface: Customized (art_msgs/CarDriveStamped)
Navigation: Customized (art_nav)
- Dagny
- Drivers: AVR with rosserial
- Driver Interface: standard cmd_vel and odom
- Navigation: Customized navigation stack, using sbpl_lattice_planner and custom local planner
- Documentation: pending software stability
Blog: http://namniart.com