How do I write a base_control node?
Hello guys,
I have to make a base controller node for a tricycle robot, I didn't find anything on the web and I'm wondering how do I can write a base_control node starting from zero. I already studied the physics of the model and all the kinematics, I just need to write the node: is there any book or article hidden somewhere that can help me out?
Thank you so much!
EDIT: I found that the angle that links Twist msg out from the navigation with the tricycle movement is
θ = arcsin( d * w / v)
Where d is the distance from the center of the steering wheel to the axis of the back wheels, w is the angular velocity out from the Twist of the navi and v is the linear velocity of the twist (but also the speed of the traction engine). Now, how do I start to write the node?
Related or a coincidence? #q321225.
I'd recommend looking into the derivation of the kinemetics / dynamics of an ackermann steering robot. A tricycle is essentially the same thing, less you're finding one angle.
That's probably tricycle fever @gvdhoom Thank you Steve, I actually found the Angle to go from Twist to tricycle movement, the problem is how to write the node..
Perhaps you could take a look at ros_controllers/ackermann_steering_controller and/or ackermann_controller. Those are for
ros_control, so might not be what you are looking for, but should give you an idea.Can you please not edit your question just to bump it?