Open sees1 opened 1 month ago
Can you outline the kinematics of such a rover? It isn't a skid steer, you think of a rocker-bogie suspension system?
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.
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.
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.