In principle, the main difference between trajectory following and waypoint navigation is that the former can use the shape of the trajectory (i.e. curvature) to control the vehicle in better way than the latter.
In practice, both components are old, and have not seen much work since the Asguard days, so YMMV. Moreover, at 10cm/s and with a vehicle that has precise control (your case), it is very well possible that a simple waypoint navigation component would do the trick just fine. Sylvain On Tue, Sep 13, 2016 at 11:10 AM, <martin.azkar...@esa.int> wrote: > Hello there (again), > > I also want to ask about another component that I just realised is available > as well called waypoint_navigation which seems to have a much simpler data > type for the trajectory (a vector of waypoints). I am wondering now if using > waypoint_navigation component might be a better (at least more simple) > solution for my problem here. Does anybody know what are the main > differences in behaviour of these two components? Any advantages on using > the Spline data type and the trajectory follower controller compared to > waypoint navigation controller? Looking at the code of both seems like the > trajectory_follower uses a PI/PID type of set of controllers while the > waypoint navigation does not require setting of any PID gains. > > FYI: I have a six wheeled rover, with front and rear steering (no middle > wheels steering) with limited max steering angle, but capable of spot > turning which I plan to traverse along an uneven planetary simulate terrain > at relative slow speeds (in the 5-10cm/s range). > > Regards, > Martin > > Martin Azkarate > TEC-MMA > > HE Space for ESA - European Space Agency > Space Automation and Robotics Engineer > > ESTEC - European Space research and TEchnology Centre > Keplerlaan 1, 2201 AZ Noordwijk > The Netherlands > martin.azkar...@esa.int | www.esa.int > Tel +31 71 565 3480 | Mob +31 650 625 564 > > This message and any attachments are intended for the use of the addressee > or addressees only. > The unauthorised disclosure, use, dissemination or copying (either in whole > or in part) of its > content is not permitted. > If you received this message in error, please notify the sender and delete > it from your system. > Emails can be altered and their integrity cannot be guaranteed by the > sender. > > Please consider the environment before printing this email. > > > _______________________________________________ > Rock-dev mailing list > Rock-dev@dfki.de > http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev > _______________________________________________ Rock-dev mailing list Rock-dev@dfki.de http://www.dfki.de/mailman/cgi-bin/listinfo/rock-dev
