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Using diff_drive_controller for a robot with off-centre wheels

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

epsilonjon gravatar image


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.

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

epsilonjon gravatar image

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.

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

Seen: 211 times

Last updated: Feb 11 '17