Hello, readers! Welcome to my blog post about the exciting ROS Lawn Tractor Meeting that took place on September 28, 2023. As an attendee, I had the opportunity to witness firsthand the latest innovations in the world of lawn tractors. Join me as I share my experiences and insights from this remarkable event.

Introduction

In this article, I will share my experience with trying to figure out why Pure Pursuit doesn’t work on my physical vehicle. I have been using the Larics Pure Pursuit code from the ROS Wiki, but unfortunately, it did not yield the desired results. I will explore the differences between the simulator and my physical vehicle, and delve into the possible reasons why Pure Pursuit fails to function properly on the real machine. Additionally, I will share videos of both the simulated vehicle and the physical vehicle running Pure Pursuit for better understanding.

The Incompatibility Issue: Simulator vs. Physical Vehicle

After extensively testing the Pure Pursuit algorithm on the simulator, I was disheartened to find that it did not work on my actual vehicle. This discrepancy prompted me to question why the code functions perfectly in the virtual environment, but fails to produce appropriate results on my lawn tractor.

Upon further investigation, it became apparent that the differences in GPS update rates and steering capabilities between the simulator and the physical vehicle could be potential contributing factors.

The Role of GPS Update Rate

One major discrepancy I noticed was the disparity in GPS update rates. My physical vehicle has a faster GPS update rate compared to the simulator. This variance in GPS data could be a cause for concern, potentially affecting the accuracy and responsiveness of the Pure Pursuit algorithm.

The Limitations of Physical Steering

Another crucial disparity lies in the limitations of physical steering on the vehicle. Unlike the simulator, the physical machine’s steering is restricted by its actual physical steering capabilities. This can result in slower steering response times, hindering the implementation of Pure Pursuit.

Investigating the Possible Solutions

In order to address this disparity and enhance the functionality of Pure Pursuit on my physical vehicle, my colleague Al and I are working together to identify potential solutions. We have been experimenting with different adjustments and modifications to pinpoint the root cause of the issue.

Sharing Videos for Better Understanding

To aid in the troubleshooting process and provide a clearer visual representation, I have created videos showcasing both the simulated vehicle and the physical vehicle running Pure Pursuit. These videos will be shared on our channel, and the link will be provided in the chat for anyone interested in analyzing the differences between the two environments.

Now, let’s move on to some frequently asked questions that you may have regarding this topic:

FAQ

Q1: Why does Pure Pursuit work on the simulator but not on my physical vehicle?
A1: The differences in GPS update rates and the limitations of physical steering can be contributing factors to the discrepancy.

Q2: What are the potential solutions you are exploring to make Pure Pursuit work on your vehicle?
A2: My colleague Al and I are experimenting with adjustments and modifications to identify the root cause and find a solution.

Q3: How can the videos you created help in understanding the issue?
A3: The videos showcase the simulated vehicle and the physical vehicle running Pure Pursuit, providing a visual representation of the differences between the two environments.

Q4: Will you be sharing the videos publicly?
A4: Yes, the videos will be shared on our channel, and the link will be provided in the chat.

Q5: Can I access the videos to gain a better understanding of the issue?
A5: Certainly! You can find the videos on our channel, and the link will be shared in the chat for your convenience.

In conclusion, the discrepancy between the performance of Pure Pursuit on the simulator and my physical vehicle has prompted me to investigate the possible reasons behind this inconsistency. Factors such as GPS update rates and the limitations of physical steering have been identified as potential causes. By sharing videos and actively troubleshooting the issue, I am determined to find a solution that ensures the smooth implementation of Pure Pursuit on my lawn tractor.