Mecanum drive - #558

Open

bmagyar wants to merge 21 commits into

ros-controls:noetic-develfrom

bmagyar:mecanum_drive

Commits on Mar 21, 2021

Made an exact copy of diff_drive_controller and called it mecanum_drive_controller.

Antoine Rennuit
authored and
bmagyar
committed
632e506
Got the mecanum_drive_controller compile (not tested yet and should not work).

Antoine Rennuit
authored and
bmagyar
committed
cbf051f
Some class and namespace renaming

Antoine Rennuit
authored and
bmagyar
committed
613f9e5
Had mecanum_drive_controller compile. This lead to 2 modifications:

Antoine Rennuit
authored and
bmagyar
committed
e16e2ea
Added a second linearY parameter along linearX (a differential drive can only take a n X desired speed as it cannot move sideways instantaneously speaking). This second parameter is not used yet.

Antoine Rennuit
authored and
bmagyar
committed
d01822e
Parameters were added to limit elocity on the y direction (it was already done for the x direction and the rotation).

Antoine Rennuit
authored and
bmagyar
committed
7a37be1
A parameter was added to check whether the setup uses simulated mecanum wheels using realigned rollers.

Antoine Rennuit
authored and
bmagyar
committed
34d0d21
First version of the mecanum wheels IK in (rough test ok). The twist which is to be provided is a body velocity, not a space velocity: I need to check whether this is standard or not.

Antoine Rennuit
authored and
bmagyar
committed
8ab247d
Namespace cleaning (should not change behavior).

Antoine Rennuit
authored and
bmagyar
committed
71a12a8
Integrate the odometry pose in the /odom frame, because:

Antoine Rennuit
authored and
bmagyar
committed
f580175
[mecanum_drive] Removed odometry's velocity filtering (it introduced delay in the reported velocity).

Antoine Rennuit
authored and
bmagyar
committed
3a1eab5
[vrep_scene] The definition of the urdf is now close to the scene definition in vrep.

arennuit
authored and
bmagyar
committed
1ae16bf
[mecanum_drive] Minor fixes (from community peer review on github).

arennuit
authored and
bmagyar
committed
a96fbf8
[mecanum_drive] Made it possible to offset the base frame with respect to the center frame in the odometry (FK).

arennuit
authored and
bmagyar
committed
c730086
[mecanum_drive] Made it possible to offset the base frame with respect to the center frame in the command (IK side).

arennuit
authored and
bmagyar
committed
bd345d7
[mecanum_drive] Get rid of speed_limiter (unused).

arennuit
authored and
bmagyar
committed
188be8f
[mecanum_drive] Added some more details to the readme.md file.

arennuit
authored and
bmagyar
committed
d4c141b
[mecanum_drive] Minor cleaning (should not change behavior).

arennuit
authored and
bmagyar
committed
071c3a8
[vrep_scene] Minor reorganisation (no impact on behavior).

arennuit
authored and
bmagyar
committed
e490798
[mecanum_drive] Modified the name of the odom "topic" in "odomTopic" as it turned out rather misleading between the different occurences of the odom name (odom used to correspond to a reference fra…

arennuit
authored and
bmagyar
committed
69b9814
Functional fixup for Noetic
bmagyar
committed
de3b6bb

Navigation Menu

Mecanum drive - #558

Mecanum drive#558
bmagyar wants to merge 21 commits into
ros-controls:noetic-develfrom
bmagyar:mecanum_drive

Commits on Mar 21, 2021

Made an exact copy of diff_drive_controller and called it mecanum_drive_controller.

Got the mecanum_drive_controller compile (not tested yet and should not work).

Some class and namespace renaming

Had mecanum_drive_controller compile. This lead to 2 modifications:

Added a second linearY parameter along linearX (a differential drive can only take a n X desired speed as it cannot move sideways instantaneously speaking). This second parameter is not used yet.

Parameters were added to limit elocity on the y direction (it was already done for the x direction and the rotation).

A parameter was added to check whether the setup uses simulated mecanum wheels using realigned rollers.

First version of the mecanum wheels IK in (rough test ok). The twist which is to be provided is a body velocity, not a space velocity: I need to check whether this is standard or not.

Namespace cleaning (should not change behavior).

Integrate the odometry pose in the /odom frame, because:

[mecanum_drive] Removed odometry's velocity filtering (it introduced delay in the reported velocity).

[vrep_scene] The definition of the urdf is now close to the scene definition in vrep.

[mecanum_drive] Minor fixes (from community peer review on github).

[mecanum_drive] Made it possible to offset the base frame with respect to the center frame in the odometry (FK).

[mecanum_drive] Made it possible to offset the base frame with respect to the center frame in the command (IK side).

[mecanum_drive] Get rid of speed_limiter (unused).

[mecanum_drive] Added some more details to the readme.md file.

[mecanum_drive] Minor cleaning (should not change behavior).

[vrep_scene] Minor reorganisation (no impact on behavior).

[mecanum_drive] Modified the name of the odom "topic" in "odomTopic" as it turned out rather misleading between the different occurences of the odom name (odom used to correspond to a reference fra…

Functional fixup for Noetic