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4 wheel ros_control

asked 2019-03-30 16:04:39 -0500

EdwardNur gravatar image

I have a robot that has 4 independent wheels and recently I was reading about ros_control package and I have decided to use it and create a hardware interface which is straightforward. I was also planning to make a local_planner for 4 independent wheels and came across this 4 wheel steering controller package:

From reading its source code, it seems that it subscribes to /cmd_vel topic and computes all the necessary velocities to 4 wheels independently.

Does it mean that I can use any local planner (close to 4 wheel kinematics) and just feed the cmd_vel to this package and get commands to my 4 wheels?

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I have a 4 fixed wheel robot (skid steer as wheels on each side are driven by chain from single motor) and use Navigation stack which assumes differential drive. It works just fine. No special planner required.

billy gravatar image billy  ( 2019-03-30 20:11:33 -0500 )edit

@billy Yes but my wheels can also turn and that is more challenging.

EdwardNur gravatar image EdwardNur  ( 2019-03-31 04:08:05 -0500 )edit

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answered 2020-04-04 16:50:30 -0500

s.vaichu gravatar image

Yes, controller expects the cmd_vel topic... u can create it in any manner, teleop, navigation packages, from terminal, etc

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Asked: 2019-03-30 16:04:39 -0500

Seen: 335 times

Last updated: Apr 04