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.

four wheel steering controller

asked 2018-10-28 11:26:54 -0500

JadTawil
71 ●21 ●25 ●32

Hello All,

I am looking at the code in the four_wheel_steering_controller package found in the ros-controllers repository: https://github.com/ros-controls/ros_c...

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,

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2019-09-05 12:46:17 -0500

arminf82
31 ●3 ●7 ●7 https://github.com/arminf82

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

edit flag offensive delete link

add a comment

Question Tools

2 followers

Stats

Asked: 2018-10-28 11:26:54 -0500

Seen: 1,650 times

Last updated: Oct 28 '18

four wheel steering controller edit

1 Answer

Question Tools

Stats

Related questions

four wheel steering controller