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which file implements the husky_velocity_controller?

asked 2019-08-26 08:13:58 -0600

lochlomond
61 ●3 ●7 ●9

When I controll the husky simulator, the motion of husky is driven by the /husky_velocity_controller/cmd_vel, I send a cmd_vel topic as expected velocity, the robot moves. But from physics, we know there must be a controller that transform the cmd_vel signal into the force that drives the vehicle. Where can I find the implementation of this controller? in which file? Thanks.

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answered 2019-09-26 15:09:34 -0600

404RobotNotFound
331 ●19 ●8

If you look here: https://github.com/husky/husky/blob/k...

You can see it loads the type: "diff_drive_controller/DiffDriveController" for the velocity controller.

The source for that is in the ros_controllers package, here: https://github.com/ros-controls/ros_c....

Specifically, if you want to see how it handles the cmd_vel topic it records the command and does the logic here: https://github.com/ros-controls/ros_c...

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answered 2019-08-28 22:15:32 -0600

bsheffield
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https://github.com/husky/husky/blob/k...

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Thank you. this link just relates to config files, where is the explicit implementation?

lochlomond ( 2019-08-28 22:39:27 -0600 )edit

http://wiki.ros.org/twist_mux

bsheffield ( 2019-08-29 04:13:39 -0600 )edit

isn't it just a choice of which to pass through?

lochlomond ( 2019-08-29 06:23:41 -0600 )edit

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Asked: 2019-08-26 08:13:58 -0600

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Last updated: Aug 28 '19

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