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Any ready made Swerve drive controller available?

Hi all,

I was wondering if you can suggest me any ready-made four independent wheel gazebo ros controller (Swerve drive) available. I am aware of the fourwheelsteeringcontroller (http://wiki.ros.org/fourwheel_steeri...) but this is based on Ackerman steering and it is not fully Swerve Drive controller.

Please let me know if I can find anything available.

Thank you!

Asked by Zoid on 2019-04-08 03:38:28 UTC

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Answers

Hi @zoid,

Please see the work we are doing at this pull request https://github.com/ros-controls/ros_controllers/pull/441 on integrating a fully functional swerve drive controller into the ros_controls framework. It is forked from the four_wheel_steering_controller and functions very similar but with the kinematics of a 4 wheel indepedent steer setup.

Asked by ingtux on 2020-09-17 02:14:39 UTC

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