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four wheel steering controller

asked 2018-10-28 11:26:54 -0600

JadTawil gravatar image

Hello All,

I am looking at the code in the four_wheel_steering_controller package found in the ros-controllers repository:

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,

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answered 2019-09-05 12:46:17 -0600

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


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Asked: 2018-10-28 11:26:54 -0600

Seen: 1,493 times

Last updated: Oct 28 '18