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cmd_vel(geometry_msgs::Twist) to ackermann_msgs

asked 2013-10-23 04:03:23 -0600

Park gravatar image

updated 2014-01-28 17:18:20 -0600

ngrennan gravatar image

Hi all.

I'd like to translate /cmd_vel(geometry_msgs::Twist) to ackermann_msgs::ackermannDrive.

Linear speed is same in two msgs.(linear.x = speed)

How can I covert angular velocity to steering angle?(angular.z --> steering_angle)

Are there nodes for it? I couldn't find to translate from angular velocity to steering angle.

Could you please let me know equation and necessary parameters?

Thanks.

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any news? I need the answer too

alex920a gravatar imagealex920a ( 2014-04-28 02:14:04 -0600 )edit

Hello Park, I try doing a similar thing. Would be glad if you could help me out. Cheers Marco

macrot51 gravatar imagemacrot51 ( 2019-05-14 05:51:54 -0600 )edit

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answered 2015-09-04 15:46:17 -0600

baronep gravatar image

Not sure if you still need to know, but ...

http://planning.cs.uiuc.edu/node658.html

Theta_dot would be angular.z and phi is steering angle

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Asked: 2013-10-23 04:03:23 -0600

Seen: 1,240 times

Last updated: May 14