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2016-11-03 10:32:46 -0500 | received badge | ● Famous Question (source) |
2016-09-01 01:45:30 -0500 | commented answer | What is the unit of the commands from the diff_drive_controller? Now, that makes perfectly sense. Of course! Thank you! :) |
2016-09-01 01:45:10 -0500 | received badge | ● Scholar (source) |
2016-08-31 13:23:01 -0500 | commented answer | What is the unit of the commands from the diff_drive_controller? Tnks! So in my case with a return value of 10, the wheels should turn 10 times per second? That's 3.14 m/s (0.1pi10). Far from the 0.5 m/s I had as an input. It works by just multiplying with the wheel radius on the RobotHW-side again but the division by wheel radius in diff control is unnecessary |
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2016-08-30 20:55:15 -0500 | received badge | ● Student (source) |
2016-08-30 17:35:20 -0500 | asked a question | What is the unit of the commands from the diff_drive_controller? Hi, I'm trying to get a differential drive robot running with ros_control and the diff_drive_controller. I have a working setup except for knowing exactly what the commands written to the command variable in the diff_drive_controller actually means (the ones I'm supposed to convert to motor commands in my RobotHW-instance). I've gone through the code for the diff_drive_controller to actually understand what's happening and I've tried to trace down how a vel_cmd is being translated to something else in the controller. This is the move robot code from the diff_drive_controller: My configuration file for the controller specifies the wheel separation to 0.341 meters and the wheel radius to 0.05 meters. When I'm sending a cmd_vel with a linear velocity of 0.5m/s and no angular velocity (hence, the robot should move straight ahead..) the calculations will translate to: So what unit is the value 10 in? S.I m/s? Can't be! I want to go with 0.5m/s straight ahead. Trying to wrap my head around this but right now I'm just feeling stupid.. x-( Thanks! |
2016-08-26 03:51:14 -0500 | received badge | ● Enthusiast |
2016-06-21 11:17:16 -0500 | commented question | How to link with ros ARM libraries when cross compiling? Any updates on this? I have the ARM toolchain installed on my desktop Ubuntu 16.04 and cross compilation works but linking does not work with the exact same error as above. Using an ARM-based main computer for ROS can't be that uncommon that noone has a working cross compilation solution, or is it? |
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