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Omnidirectional Four_wheel_steering_controllers/base-controllers

asked 2020-01-09 13:25:02 -0600

Dragonslayer gravatar image

updated 2020-01-09 13:29:54 -0600

Looking for omnidirectional four-wheel-steered base controllers. It seems ros-control four_wheel_steering_controller is not omnidirectional! Am I wrong? PR2 on the other hand seems hard to adopt. Any suggestions? And why is four_wheel_steering_controller not omnidirectional, isnt the omnidirectional movement what makes 4 wheel steering interesting?

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answered 2020-01-09 16:47:13 -0600

As far as I can tell the four wheel steering controller is intended to be used with four wheel ackerman type steering. So it is not capable of moving in an omni-directional (holonomic) way.

A four meccanum wheel robot may be what you're looking for and there is a ROS package which support this. Here is a video of such a robot in action.

Hope this helps.

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Thanks for the answer. I really need a PR2 like Controller, which seems to be the way to go for me. But I still dont get it why the ros team didnt implement 4wheel steering omnidirectional. Its not that much different from what I understand now. 4 wheel Ackerman steering seems a waste to me, specially as it would be easy to make the omnidirectional controller do that as well.

Dragonslayer gravatar imageDragonslayer ( 2020-01-09 17:15:33 -0600 )edit

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Asked: 2020-01-09 13:25:02 -0600

Seen: 24 times

Last updated: Jan 09