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Omni-direction cmd_vel to motors speed callback

asked 2019-10-11 06:19:10 -0500

makemelive gravatar image

updated 2019-10-11 06:47:47 -0500

ct2034 gravatar image

Hello,

I recently 3d printed some mecanum wheels and now i'm waiting for stepper motors.

My question is how to get the speed from the Twist message (linear.x , linear.y, angular.z) provided by move_base and transform into appropriate motor speeds. The setup is the normal square one (the extended lines from the rollers need to converge on the centre of the robot)

Thank you!!!

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You put omni-wheel in the tags. But you mean mecanum-wheel, right?

ct2034 gravatar imagect2034 ( 2019-10-11 06:56:01 -0500 )edit

yes sorry about that!

makemelive gravatar imagemakemelive ( 2019-10-11 07:11:20 -0500 )edit

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answered 2019-10-11 07:05:19 -0500

ct2034 gravatar image

You need to implement inverse kinematics for mecanum wheels. A quick google gave me: https://www.scirp.org/Html/6-7900244_... or even this one: http://robotsforroboticists.com/drive...

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very helpfull what i needed, actually i think i need to implement only forward kinematics, inverse kinematics might be usefull for getting odometry although some guess work might be needed since the steppers are open-loop but still quite accurate. I will study the links and upload my rosserial arduino code (or Jetson nano gpio code ) with the a4988 drivers here!! Thanks!!

makemelive gravatar imagemakemelive ( 2019-10-11 07:18:50 -0500 )edit

I think the terminology in the second link may be mixed up ... https://en.wikipedia.org/wiki/Forward...

ct2034 gravatar imagect2034 ( 2019-10-11 07:29:30 -0500 )edit

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Asked: 2019-10-11 06:19:10 -0500

Seen: 16 times

Last updated: Oct 11