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officinerobotiche / ros_orbus_interface

Interface to control all board with orbus. uNav, RoboController, Motion Controller, ...
http://www.officinerobotiche.it
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Kinematic control #19

Closed rbonghi closed 9 years ago

rbonghi commented 9 years ago

Remove all patches to build kinematic control for unav: Example:

https://github.com/officinerobotiche/ros_serial_bridge/blob/develop/src/serial_controller/ROSMotionController.cpp#L318

motor_ref_long[0] = (long int) ((1.0f / parameter_unicycle.radius_l)*(msg->linear.x + (0.5f*parameter_unicycle.wheelbase * (-msg->angular.z)))*1000);
motor_ref_long[1] = (long int) ((1.0f / parameter_unicycle.radius_r)*(msg->linear.x - (0.5f*parameter_unicycle.wheelbase * (-msg->angular.z)))*1000);

Change sign per angular.z!!

@Myzhar

rbonghi commented 9 years ago

Solved in branch #20