search

ros-controls / ros_control

Generic and simple controls framework for ROS
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
475 stars 307 forks source link

Is an anti-slip controller, suitable as a ros_control plugin? #378

Open gstavrinos opened 5 years ago

gstavrinos commented 5 years ago

Hello everyone,

I am currently studying on how to most effectively implement a robot controller that compensates for wheel slippage, based on encoders (raw odom) and IMU (acceleration and velocity) inputs.

My main concern is: Would a ros_control plugin be suitable for my goal, or should I just implement a normal node that just overrides cmd_vel commands using a twist multiplexer? Keep in mind, that most people will already have a controller for their robot, so using this second controller should work only complementary.

Thanks in advance for your thoughts.

George

lit-af commented 4 years ago

@gstavrinos Did you find a solution to this issue?

gstavrinos commented 4 years ago

@LazyEngineerToBe Unfortunately not, but please keep me updated if you have any progress on this. (Nice username btw)