search

ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control
https://control.ros.org
Apache License 2.0
385 stars 332 forks source link

6-wheel rover controller #1243

Open sees1 opened 3 months ago

sees1 commented 3 months ago

I realize a six-wheel controller (6 x 4) for lunar rover on ros2_controller base now and maybe it relevant for this repo. I can modify steering controller library or write controller from scratch.

christophfroehlich commented 3 months ago

Can you outline the kinematics of such a rover? It isn't a skid steer, you think of a rocker-bogie suspension system?

sees1 commented 3 months ago

yeah, like rocker-bogie with front, middle and rear pair of wheel, where front and rear wheels are steerable and turn in the same direction.

christophfroehlich commented 3 months ago

Do you need other kinematic equations like described here? If yes, please start with a PR updating the docs.

Then: we could implement this by refactoring the steering_controllers_library by not implementing the resulting vehicle-kinematics in the lib, but only axis-specific kinematics and the composition is done in the respective controller implementations. This would also help here #692. But this is a bigger change as what you are asking for.