Hi all,
I am just getting familiar with [move_base](http://wiki.ros.org/move_base), specifically with the working of the [base_local_planner](http://wiki.ros.org/base_local_planner). I went through the code and the documentation on the ros wiki but I have a small doubt regarding **how is the odom (`nav_msgs/Odometry`) message used by the base_local_planner to give a better estimate of the command velocity (`/cmd_vel`) ?** Is there any kind of a controller (maybe only P Control) which is present which reads the current robot velocity and accordingly generates the command velocity which is sent to the mobile base?
Sorry If I am being really naive, but it would be great if someone can clear my doubt or point me in the right direction?
Thanks in advance.
Naman Kumar
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