How ros_control can be customized to a dynamixel based omni directional mobile base.

asked 2015-01-05 04:15:45 -0500

unais
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Recently I got to know that ros_control is very much helpful while making a mobile-robot(Specially for autonomous navigation). I am not find any good technical explanation and how it customized to our robot.

What all are the advantages of using ros_controller for a mobile base.Is it really required?. What all are the problems if it is not using. I want to use it for making navigation stack based slam.

It would be great if some one who already used this give some key points.

answered 2015-01-07 02:28:36 -0500

Adolfo Rodriguez T

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One of the main advantages of using ros_control is that you can reuse existing robot-agnostic code, such as the Gazebo simulator backend and robot controllers. For onmidirectional bases, there is currently no officially supported controller (only diff-drive), although there are implementations out there that expose ROS APIs compatible with the navigation stack.

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We already seen that steered_wheel_base_controller. Dynamixel has an ros driver. ros_control http://wiki.ros.org/dynamixel_motor . So I am thinking which will less head ache- using ros_dynamixel or building a ros cotrol using this ros_control framework.

unais ( 2015-01-07 03:21:20 -0500 )edit

Using one does not mean not using the other. dynamixel_motor provides hardware access, while steered_wheel_base_controller implements the inverse kinematics map between twist and joint commands. The functionality of the packages is orthogonal, you could consider leveraging both.

Adolfo Rodriguez T ( 2015-01-26 02:23:29 -0500 )edit

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How ros_control can be customized to a dynamixel based omni directional mobile base.

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