I recently had the opportunity to conduct an exhilarating test of the ROS Larics Pure Pursuit algorithm on a physical vehicle. In this exciting experience, I delved into the realms of robotics and autonomous navigation, pushing the boundaries of what can be achieved in the field. Join me as I share the intriguing results and insights gained from this remarkable experiment. Get ready to embark on an enthralling journey into the world of ROS Larics Pure Pursuit.

Introduction

In this article, I will share my experience testing the ROS Larics Pure Pursuit code on my Mini-Tractor. It has been an exciting journey to explore the capabilities of this technology and understand its performance on a physical vehicle. Throughout the testing process, I encountered various challenges and made observations that shed light on the intricacies of the system. Join me as I delve into the details and provide insights into the use of GNSS receivers, control mechanisms, and its impact on tracking accuracy.

I am testing my Mini-Tractor with Larics Pure Pursuit code

When I decided to test the ROS Larics Pure Pursuit code, my objective was to evaluate its performance on my Mini-Tractor. This platform provided an ideal opportunity to harness the capabilities of this technology and understand its limitations. Armed with the GNSS receivers, I embarked on this thrilling testing exercise.

The GNSS receivers are providing x/y location and static heading

The GNSS receivers utilized for testing were instrumental in providing valuable data. They accurately recorded the Mini-Tractor’s x/y location and its static heading. This information became vital in understanding the performance of the Larics Pure Pursuit code as it relied on these inputs to make calculated decisions.

The GNSS (odometry) message is published at a 5Hz rate

One noteworthy aspect of the GNSS receivers was their ability to publish odometry messages at a 5Hz rate. This allowed for the transmission of data at a relatively high frequency, facilitating real-time updates and ensuring that the Pure Pursuit code had the latest information to make precise calculations and adjustments.

I control the speed manually using a joystick

To maintain control over the Mini-Tractor’s speed during testing, I used a joystick for manual control. This setup enabled me to modulate the speed based on the requirements of different scenarios. The ability to adjust the speed manually added an element of flexibility and allowed me to gather data under various conditions.

The tractor does not track very well in this video

During my testing, I noticed that the Mini-Tractor did not track as well as I had anticipated. In the accompanying video, it was apparent that the tractor displayed some deviations from the desired path. This raised questions about the factors influencing its performance and prompted further investigation.

We’re not sure if it’s due to the slow GNSS rate, slow steering response, or fast forward speed

Upon analyzing the video footage and considering various factors, it became evident that the suboptimal tracking could be attributed to one of three possible reasons. Firstly, the slow GNSS rate may have impacted the accuracy of the location data at certain points in time. Secondly, the slow steering response might have contributed to delayed adjustments, affecting the tractor’s ability to maintain its trajectory. Lastly, the high forward speed of the Mini-Tractor could have introduced instability, making it challenging to achieve precise tracking.

Check the next video for improved results from a simulated vehicle

To gain further insights into the capabilities of the ROS Larics Pure Pursuit code, I decided to compare the results obtained from the physical vehicle with those from a simulated vehicle. In the next video, we can observe the improved results achieved through simulation. This comparison provides a valuable perspective on the performance of the code and its ability to track more accurately under different conditions.

Conclusion

The testing of the ROS Larics Pure Pursuit code on my Mini-Tractor has been an enlightening experience. The utilization of GNSS receivers, manual speed control, and the examination of tracking accuracy have provided valuable insights into the workings of this technology. While some challenges were encountered, the potential of the Pure Pursuit code was evident. By continually refining the system and investigating potential improvements, we can unlock its full capabilities and pave the way for more accurate and efficient autonomous vehicles.

FAQs:

1. How does the ROS Larics Pure Pursuit code work?
2. Can the Pure Pursuit code track accurately at high speeds?
3. What other factors can affect the tracking performance of the Mini-Tractor?
4. Are there any limitations to using the GNSS receivers for location data?
5. How does the performance of the physical vehicle compare to the simulated vehicle in terms of tracking accuracy?