Twist cmd_vel for wheelchair robot

asked 2022-04-24 03:47:18 -0600

catmanjan gravatar image

updated 2022-04-25 04:48:56 -0600

Hello, I have a wheelchair robot I am trying to hook up to cmd_vel

I have teleop working, but I am having trouble mapping the linear and rotational vectors into the format my robot is expecting

The whelchair driver can be provided the following instructions:

  • fore/aft: 1.3v = backwards, 3.3v = forwards (and everything in between)
  • left/right: 1.3v = left, 3.3v = right (and everything in between)

Previously I have written a trig function so I can provide an angle of movement in degrees, e.g. move(90) will turn right, move(45) will travel forwards veering right 45 degrees

I want to integrate SLAM libraries into the robot, are these likely to only use the "tank controls" teleop uses (e.g. 8 directions) or could is there a more general solution to map cmd_vel to 360 degrees of motion?

Apologies for the rambling

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Comments

I am not sure if I got it what you want to say,

If you want to map angular velocity of the wheel to the linear and angular velocity of the whole body, You can use differential_dive package.

aarsh_t gravatar image aarsh_t  ( 2022-04-25 14:33:41 -0600 )edit
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