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 ?

Asked by TomSon on 2021-10-18 03:42:42 UTC

Comments

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.

Asked by Dragonslayer on 2021-10-18 05:48:39 UTC

How about this one ? https://www.youtube.com/watch?v=4_bftUbQTaM https://github.com/ros-controls/ros_controllers/tree/noetic-devel/four_wheel_steering_controller

Asked by TomSon on 2021-10-18 10:01:05 UTC

Sorry, I was wrong, the limitations of 4ws wasnt actually about quasi holonomic movement.

Asked by Dragonslayer on 2021-10-18 10:58:15 UTC

No problem, it seems that the controller I tested doesn't have a pivot turn behavior.

Asked by TomSon on 2021-10-20 07:52:33 UTC

I add an issue about the missing controller from ROS1 in ros2_controllers https://github.com/ros-controls/ros2_controllers/issues/264

Asked by TomSon on 2021-11-08 04:36:49 UTC