Tricycle base_controller

asked 2019-04-16 10:32:26 -0600

Terik gravatar image

Hi guys, I want to write a base controller for my robot. It's a three-wheeled robot with the front wheel that acts as track and steer. Looking for some information on internet I only found code for differential robot or code as gazebo-plugin. I would like to interface this base controller with navigation stack reading twist_msgs publish by move_base. Thank you for help! P.S. I'm using Indigo on Raspberry Pi

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Is everyone into tricycle robots all of a sudden? #q321219?

gvdhoorn gravatar image gvdhoorn  ( 2019-04-16 12:51:55 -0600 )edit

I've seen a couple repos pop up, I think there's a company using them as interview take-home problems. Terik, I'd recommend looking into the derivation of the kinemetics / dynamics of an ackermann steering robot. A tricycle is essentially the same thing, less you're finding one angle.

stevemacenski gravatar image stevemacenski  ( 2019-04-16 15:10:25 -0600 )edit