Mobile robot controller on ros2
Hello everyone, I'm looking for a ros2 controller for a 4WD robot, I know there is one in ros1 but is there someone trying to transfer it to ros2 ?
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The most sophisticated ros1 four_wheel_steering base controller is the PR2 ones. link. The standards 4ws was just double ackerman, non quasi holonomic. No pr2 ros2 repository as far as I can see yet.
How about this one ? https://www.youtube.com/watch?v=4_bft...https://github.com/ros-controls/ros_c...
Sorry, I was wrong, the limitations of 4ws wasnt actually about quasi holonomic movement.
No problem, it seems that the controller I tested doesn't have a pivot turn behavior.
I add an issue about the missing controller from ROS1 in ros2_controllers https://github.com/ros-controls/ros2_...