[Rock-dev] Trajectory_follower vs Waypoint_navigation

[Martin.Azkarate at esa.int]

Hello there (again),

I also want to ask about another component that I just realised is 
available as well called waypoint_navigation which seems to have a much 
simpler data type for the trajectory (a vector of waypoints). I am 
wondering now if using waypoint_navigation component might be a better (at 
least more simple) solution for my problem here. Does anybody know what 
are the main differences in behaviour of these two components? Any 
advantages on using the Spline data type and the trajectory follower 
controller compared to waypoint navigation controller? Looking at the code 
of both seems like the trajectory_follower uses a PI/PID type of set of 
controllers while the waypoint navigation does not require setting of any 
PID gains.

FYI: I have a six wheeled rover, with front and rear steering (no middle 
wheels steering) with limited max steering angle, but capable of spot 
turning which I plan to traverse along an uneven planetary simulate 
terrain at relative slow speeds (in the 5-10cm/s range).

Regards,
Martin
Martin Azkarate
TEC-MMA
HE Space for ESA - European Space Agency
Space Automation and Robotics Engineer 
ESTEC - European Space research and TEchnology Centre
Keplerlaan 1, 2201 AZ Noordwijk 
The Netherlands 
Martin.Azkarate at esa.int | www.esa.int 
Tel +31 71 565 3480 | Mob +31 650 625 564 
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