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.
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