Problem
Giving constant cmd_vel messages worked for the first demo, but the starting and stopping motion was so sudden that it caused the payload to drop sometimes.
More ideally would be to plan a smooth trajectory to the goal point. Then this can be generalized to 2D. This would be similar to what Nav2 was doing, but a custom node so we have much more control over its behavior.'
To stay in formation, either both robots can plan trajectories or a follower robot can maintain a fixed distance away.
Solution
I need to research how to even make a trajectory. I think it means generating a continuous function of position/velocity goals over time.
Problem
Giving constant
cmd_velmessages worked for the first demo, but the starting and stopping motion was so sudden that it caused the payload to drop sometimes.More ideally would be to plan a smooth trajectory to the goal point. Then this can be generalized to 2D. This would be similar to what Nav2 was doing, but a custom node so we have much more control over its behavior.'
To stay in formation, either both robots can plan trajectories or a follower robot can maintain a fixed distance away.
Solution
I need to research how to even make a trajectory. I think it means generating a continuous function of position/velocity goals over time.