search

ros-controls / ros_controllers

Generic robotic controllers to accompany ros_control
http://wiki.ros.org/ros_control
BSD 3-Clause "New" or "Revised" License
560 stars 526 forks source link

How to user diff_drive_controller for a crawler chassis? #621

Closed oscar1780 closed 11 months ago

oscar1780 commented 11 months ago

捕获 Hello everyone, I've got a crawler chassis as shown above, and i konw it's a diff driver mode. But i have no idea how to set wheel radius,if someone konw, please tell me. tks in adavance.

dcconner commented 11 months ago

It should be the radius of your drive wheel to the tread surface. Basically, the linear velocity of the tracks is v = w*r, where w is the angular velocity. Presuming the black wheel in the right is your image is the drive wheel, then take the shaft to tread distance for radius. This said, your question is better suited for https://robotics.stackexchange.com instead of this github.

oscar1780 commented 11 months ago

It should be the radius of your drive wheel to the tread surface. Basically, the linear velocity of the tracks is v = w*r, where w is the angular velocity. Presuming the black wheel in the right is your image is the drive wheel, then take the shaft to tread distance for radius. This said, your question is better suited for https://robotics.stackexchange.com instead of this github.

OK,thank for your reply,i'll post such question to this https://robotics.stackexchange.com website next time.

bmagyar commented 11 months ago

I'd set left and right wheels in the config file and play with the wheel radius multipliers to adjust them to reality. From that point on, the diff_drive_controller should work just fine