Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Using diff_drive_controller for a robot with off-centre wheels

asked 2017-02-01 11:59:37 -0500

epsilonjon
123 ●8 ●11 ●21

Hi.

I'm attempting to use the diff_drive_controller package in ros_control for a robot which has wheels positioned off-centre (i.e. at the front of the robot). It then has a caster wheel at the back. In reality, the robot rotates about the centre of the two front wheels. However, the odometry published by diff_drive_controller rotates the robot about the base_link. Is there a way to correct this?

Many thanks.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2017-02-11 05:27:23 -0500

epsilonjon
123 ●8 ●11 ●21

updated 2017-02-11 05:27:46 -0500

The way I have achieved this is to create a link at my desired point of rotation, then to set the diff_drive_controller parameter base_frame_id equal to that link.

edit flag offensive delete link

add a comment

Question Tools

2 followers

Stats

Asked: 2017-02-01 11:59:37 -0500

Seen: 214 times

Last updated: Feb 11 '17

Using diff_drive_controller for a robot with off-centre wheels edit

1 Answer

Question Tools

Stats

Related questions

Using diff_drive_controller for a robot with off-centre wheels