Mobile robot controller on ros2

asked 2021-10-18 03:42:42 -0600

TomSon gravatar image

updated 2021-11-08 03:36:57 -0600

Hello everyone, I'm looking for a ros2 controller for a 4WD robot, I know there is one in ros1 but is there someone trying to transfer it to ros2 ?

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The most sophisticated ros1 four_wheel_steering base controller is the PR2 ones. link. The standards 4ws was just double ackerman, non quasi holonomic. No pr2 ros2 repository as far as I can see yet.

Dragonslayer gravatar image Dragonslayer  ( 2021-10-18 05:48:39 -0600 )edit

How about this one ? https://www.youtube.com/watch?v=4_bft...https://github.com/ros-controls/ros_c...

TomSon gravatar image TomSon  ( 2021-10-18 10:01:05 -0600 )edit

Sorry, I was wrong, the limitations of 4ws wasnt actually about quasi holonomic movement.

Dragonslayer gravatar image Dragonslayer  ( 2021-10-18 10:58:15 -0600 )edit

No problem, it seems that the controller I tested doesn't have a pivot turn behavior.

TomSon gravatar image TomSon  ( 2021-10-20 07:52:33 -0600 )edit

I add an issue about the missing controller from ROS1 in ros2_controllers https://github.com/ros-controls/ros2_...

TomSon gravatar image TomSon  ( 2021-11-08 03:36:49 -0600 )edit
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