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ros-teleop / twist_mux

Twist multiplexer
Apache License 2.0
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Ackermann messages compatibility #4

Closed dani-carbonell closed 8 years ago

dani-carbonell commented 8 years ago

Hi! I have been using this package already for a while and it works really good. Now I need a similar package but to be used with "ackermann_msgs". Is there any chance this package gets upgraded to be compatible with this kind of messages? Or should we create "ackermann_mux"?

Thanks! :)

mikepurvis commented 8 years ago

Would probably make sense to have a separate node binary to mux ackermann topics, but there's a bunch of logic here (diagnostics, markers, etc) that would be applicable to both or could be easily generalized to be so.

efernandez commented 8 years ago

Some classes are templated, so you can easily extend them and create a new nodes that works with ackermann_msgs. I have to look into this msgs and some robot using it to understand why a twist msg isn't enough for you, or whether a conversion is possible or not. I guess you can still have twist inputs and convert the output from Twist to AckermannDrive.

bmagyar commented 8 years ago

That Twist to AckermannDrive "conversion"/interpretation is what an Ackermann-controller would do, at least in my world (unless you have direct AckermannDrive_msgs commands ready from a steering wheel-type device).

efernandez commented 8 years ago

@dani-carbonell any update on this? What do you think about @bmagyar 's comment?

efernandez commented 8 years ago

Closing since this is quite old now, and there's no activity here.

Furthermore, IMHO, @bmagyar comments stands.