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Message for dual steering vehicle

asked 2018-01-09 14:44:16 -0500

lelongg gravatar image

I'm wondering if a common message type exists to control dual steering vehicles (both front and rear ackermann steering). I'm looking for something like Twist or Ackermann_msg.

If not, should we create a new package to hold it or is there an existing package we should add it to ?

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answered 2018-01-10 09:05:25 -0500

Vincent R gravatar image

There is already the four_wheel_steering msg that can be used

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answered 2018-01-09 15:59:05 -0500

ahendrix gravatar image

I'm not aware of such a message.

geometry_msgs/Twist has enough degrees of freedom to represent the motion of the centroid of a dual-steering vehicle, but it lacks the acceleration terms that are present in the ackermann messages.

If you want to create a new message that includes the steering rates and acceleration terms, it seems like the ackermann_msgs package would be the appropriate place for it.

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I submitted a pull request on ackermann_msgs:

lelongg gravatar imagelelongg ( 2018-01-10 07:40:10 -0500 )edit

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Asked: 2018-01-09 14:44:16 -0500

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Last updated: Jan 10 '18