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Hi!
I am using the PR2 base controller algorithm for another robotic platform. So far, the algorithm works perfectly for me, but I would like to know whether there is any documentation about how it works, how it calculates wheel angles and velocities and whether it can be used for an arbitrary number of wheels.
Thanks in advance!
Hi Gazkune,
This is very interesting! Could you please send me a pointer to some movies of your platform. I can put together a brief technical report for you on how everything works on the PR2 but it won't be until a couple of weeks at the earliest if that's ok with you.
Hi Gazkune,
I don't found any documentation about the intern algorithms running in the base controller. But you can still take a look at {ROS_STACKS}/pr2_controllers/pr2_mechanism_controller/src/pr2_base_controller.cpp {ROS_STACKS}/pr2_controllers/pr2_mechanism_controller/src/pr2_base_controller2.cpp
In these files you will see two functions: computeDesiredCasterSteer. computeDesiredWheelSpeeds. I think they describe what you are seeking.
Moreover, as far as I can see, this code is not dependent on the number of wheels.
Hope this helps,
Guido
Thank you Sachin! I would really appreciate your brief technical report. As far as the platform regards, we still don't have the real version, but I can send you two videos of the initial simulations in Gazebo, with 4 and 6 wheels: http://dl.dropbox.com/u/23291294/platform_four_wheels.ogv and http://dl.dropbox.com/u/23291294/platform_six_wheels.ogv The platform is big and heavy. Please do not hesitate on asking me for more information.
Asked: 2011-04-11 19:18:07 -0500
Seen: 584 times
Last updated: Apr 14 '11
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