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dynamic parameters for diff_drive_controller

asked 2021-03-20 10:36:01 -0600

jerry9977
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I need to change controller's parameter (left and right wheel radius) during run time. Currently the robot has two types of wheels which will switch during run time but these two wheels are not in the same size.

Is there a way to dynamically change the parameter of diff drive controller? or possibly restart the diff drive node

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Would it work to unload and reload the diff_drive_controller using the controller_manager's services?

gvdhoorn ( 2021-03-22 10:04:41 -0600 )edit

It will probably work, never thought about it I will try it out later/

jerry9977 ( 2021-03-22 18:09:24 -0600 )edit

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answered 2021-03-22 09:33:40 -0600

tryan
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diff_drive_controller does have a dynamic_reconfigure server, but the actual wheel radius isn't an option. You could modify the left/right wheel_radius_multiplier parameters to account for the change, using a GUI with rosrun rqt_reconfigure rqt_reconfigure, or you could do it programatically with a dynamic_reconfigure client in a node.

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I will give it a shot. This solution seems reasonable.

jerry9977 ( 2021-03-22 18:06:38 -0600 )edit

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Asked: 2021-03-20 10:36:01 -0600

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Last updated: Mar 22 '21

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