Full documentation available at https://docs.google.com/document/d/12OskcdpYfk2VpC2XfKAsr_ltr9boh4TLZNPMKEl9Rro/edit?usp=sharing

PDController

Simple PD Controller that can be integrated with ROS move_base.

Features in Comparision to DWA

1. Lightweight : Since it does not sample in comparision to DWA, and uses a simple controller, it is much lightweight.
2. In place rotation : It can reach the navigation goal if the goal orientation is 180 degree away.

Usage

Clone and catkin_make it.

Replace pd_controller/PDController to your default mo0ve base params.

Contributing

Contributions are welcome

Contact

[email protected]