Thank you. Yes, Pure Pursuit came up a lot in my research. I decided that I could do without it for the trivially simple (straight line) situations that I handle now, but I do want to try it for more complex handling. I recall that the FroboMind field robot code uses Pure Pursuit or similar. (The target point is shown in the simulation.) I intend to try implementing that code on my machines.
I have Tractobot00 running again. I hope to start using it as a testbed soon.
thank you , i like it
This is a high-quality, efficient brushless electronic speed control with an integrated switch-mode BEC. It can operate without the need for a separate receiver battery to power your servos and receivers, saving you weight and complication. GECKO series also include ESC OPTO for giant flying. This series of ESCs also features an exposed, finned heat sink aluminum case with lightweight plastic end caps. Additional features include safe power arming along with advanced programmable, data logging system, low voltage cutoff, braking, timing, throttle input range, and more, making this series truly a pro series speed control.
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Data logging system such as temperature, voltage, current, RPM,
SBEC Voltage Output 5.0, 6.0, 7.4, 8.4V adjustable
Advanced Governor Mode and soft start
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Power arm protection, over-heat protection, low-voltage protection and lost-signal protection
Secondary sub-menu setting by LCD program card or PC interface
Firmware updating by PC interface
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programmable throttle input range
Anti-spark circuit eliminates (HV OPTO version only)
Output: Continuous Current 85A, Burst Current 100A for 10 seconds
Battery : 5-18 NiXX / 2-6S LiPo
BEC: 5.0V, 6.0V, 7.4V, 8.4V adjustable/8A
Size: 33x66x16mm (WxLxH)
Hey Kyler, just wanted to mention i've incorporated pure pursuit into AgOpenGPS. It is far superior to any other guidance technique by a very long way. It just works and is very simple to set up for the vehicle.
I'm going through your code on GitHub and trying to understand the physical connection of your GPS and IMU. I'm coming from a Pixhawk, RTK, motor controlled steering using Python and Dronekit on my JD5055, but new to ROS. I've been unhappy with my attempt using PurePursuit and wanted to try and replicate what you have done. I was thinking step one for me was getting a simple publisher, subscriber working with the GPS and IMU. In trying to reverse engineer the physical connections I have found "gps_nmea = GPS_NMEA(port='/dev/gps_nmea')" in NV08C_node.py. I also found "imu_pub = rospy.Publisher('imu', Imu, queue_size=10)" in imu_publisher.py. Q1: Where is "gps_nmea" set and/or where is the GPS connected to your companion computer? Q2: I see in your code where the imu is published, but I can't work backwards to see where it is connected. Can you help? I'll have more, but that would be enough to get me started on replicating your very impressive success. Al in Texas
Q1: /dev/gps_nmea is the NMEA port of my GPS. There's also a port for RTCM. Each one is a separate(!) USB interface. I use udev to assign the NMEA port to /dev/gps_nmea. It's usually /dev/ttyS0, I think.
Q2: I used a Tinkerforge IMU Brick V2.0 as the IMU. I don't think I uploaded the code for its publisher.