I am trying to establish offboard control of a rover equipped with a skid steering system,
What I want to do is :
- Upload mission waypoints
- Let the rover perform a mission in auto mode
while this is happening, I would like to perform obstacle (wall) avoidance using a lidar. When the lidar says, that a wall is present, say at x degrees crossing the route, then the rover will change its direction to x degrees, and crawl along the wall. when the wall is completely traversed, then the rover will adjust it’s heading back to it’s original heading.
I suppose this is not possible in auto mode entirely.
So my questions are :
- Which mode is correct for this application
- What commands shall I use for skid steering? I tried to use the MAVROS command velocity xval yval zval in the SITL simulator, but this command does not result in a skid steering behavior in the simulator, the rover still moves along and does not rotate on location, like a skid steering would.
What can I do to properly reflect skid steering behavior in the SITL simulator, resp on an actual pixhawk hardware?