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morse-simulator / morse

The Modular OpenRobots Simulation Engine
http://morse-simulator.github.io/
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Ackerman new model #700

Closed adegroote closed 8 years ago

adegroote commented 8 years ago

This set of commit introduces an Ackermann (car-like) generic model for Morse. It also introduce a PID controller, which can be reused, at least in the RotorCraft related actuators.

There is no specific actuator for now, one can abuse 'DifferentialVWActuator'. My idea (but it will be another pull request) is to use the same interface for PhysicalRobot (i.e. apply_speed), and so use for 'all' robots VWMotion.

There is no robot commited related to this new model, I can provide one if needed, through I don't think it deserves to be in Morse for now (it is just a cube, and four cylinders, without any texture).

Please review the code, and discuss the various item of this PR.

HorvathJo commented 8 years ago

For 2 projects of ours an Ackermann steering would be really interesting option and an improvement. We already "implemented" a pseudo Ackermann actuator [1], but of course Arnaud's solution would be much better.

This implementation is assuming that the front wheels are the steering ones. I.e. forklifts behave like a "reverse" Ackermann. So for that case I could try to create a "reverse" Ackermann based on this PR.

[1] "Mobile Robotics for Multidisciplinary Study" by Carolotta Berry

adegroote commented 8 years ago

Merged in master.