four wheel steering controller
Hello All,
I am looking at the code in the fourwheelsteeringcontroller package found in the ros-controllers repository: https://github.com/ros-controls/roscontrollers
I am wondering if someone can provide sources or explanations for the derivations of the four wheel drive/steering kinematics implemented in this controller. I can't for the life of me find anything on the web and starring at nested tan functions is difficult to visualize..
Thank you all,
Asked by JadTawil on 2018-10-28 11:26:54 UTC
Answers
Probably to late,
but I just found Linorobot as I was looking to switch from diff drive controller to 4wd.
Linorobot is a suite of Open Source ROS compatible robots that aims to provide students, developers, and researchers a low-cost platform in creating new exciting applications on top of ROS.
Supports multiple types of robot base:
2WD 4WD Ackermann Steering Mecanum drive
https://github.com/linorobot/linorobot
af
Asked by arminf82 on 2019-09-05 12:46:17 UTC
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