Open TifferPelode opened 6 years ago
Hello everyone,
I'm new in ackermann control, and I wanna use ros_control to move my car-like robot.
It's front wheel steering controlled by a motor, and can get a rotation angular(-pi/6, pi/6); rear wheel use one motor, output linear speed.
I also calculate its wheelbase and min_turning_radius.
Now I wanna know how to modify ackermann_controller to satisfy my base to publish a 'odom' topic?
Thanks.
Take a look at diff_drive_controller: https://github.com/ros-controls/ros_controllers/tree/melodic-devel/diff_drive_controller
You would need to write something similar for ackermann/tricycle vehicles.
Hello everyone,
I'm new in ackermann control, and I wanna use ros_control to move my car-like robot.
It's front wheel steering controlled by a motor, and can get a rotation angular(-pi/6, pi/6); rear wheel use one motor, output linear speed.
I also calculate its wheelbase and min_turning_radius.
Now I wanna know how to modify ackermann_controller to satisfy my base to publish a 'odom' topic?
Thanks.