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Any ready made Swerve drive controller available?

asked 2019-04-08 03:38:28 -0500

Zoid gravatar image

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 four_wheel_steering_controller ( http://wiki.ros.org/four_wheel_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!

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answered 2020-09-17 02:14:39 -0500

ingtux gravatar image

Hi @Zoid,

Please see the work we are doing at this pull request https://github.com/ros-controls/ros_c... 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.

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Asked: 2019-04-08 03:38:28 -0500

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Last updated: Apr 08 '19