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gz ros2 control ackermann nav2 MPPI and Smac Hybrid-A* Planner example #121

@ARK3r

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@ARK3r

Hi Steve,

I was wondering if there'd be interest for me to get a fully functional example of an ackermann robot up using the gz ros2 control package for planning by nav2 MPPI and a Smac Hybrid-A* Planner for GPS navigation, then once the configuration is done, you could help with / do the tuning?

  • If so, what ros2 version would you suggest? rolling?
  • Would you have a preference for the Gazebo version?
  • Any preferred sensor stacks?
  • Anything else to know before getting started?

Ideally, I'd set it up with Docker for easier bring-up, but I am open to suggestions.

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