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Where to put mobile platform inverse kinematics

asked 2014-09-17 11:15:40 -0500

arennuit gravatar image

Hello,

I am putting a place a mobile robot with mecanum wheels. For my robot to be driven I would like to be able to specify a desired velocity to the platform (a twist) and have the robot decide itself about the velocity of the wheels (joint velocity) that lead to this desired twist: this is what I call the mobile platform's IK. This IK is not so complex to compute but I am afraid I do not understand where to perform the computation in ROS. So what is the best practise to implement this mobile IK? And where should I put the code?

I had a look at the husky packages but could not find anything relevant. I am pretty sure many robot simulations do have the same need and implement this, no?

Anyone having a better understanding than me? Any example code?

Thanks,

Antoine.

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answered 2014-09-18 03:25:33 -0500

gvdhoorn gravatar image

For most robots that include a mobile base, a robot (or mobile base) specific driver package is created, which includes functionality like you describe. The husky packages are examples of this.

For a more generic, plugin, type approach you might take a look at the recently announced diff_drive_controller for ros_control.

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Hum, this is a good start, I'll dig in this direction... Thanks Gijs ;)

arennuit gravatar imagearennuit ( 2014-09-18 05:17:11 -0500 )edit

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Asked: 2014-09-17 11:15:40 -0500

Seen: 157 times

Last updated: Sep 18 '14