mecanum drive controller

[Antoine Rennuit]

Hello,

I am about to put in place a mecanum drive controller (same purpose as the diff drive controller but for mobile platforms based on mecanum wheels: you provide a twist as input, it outputs wheel velocities). Would you prefer that I create another mode in the existing diff_drive_controller, or that I create another fully new controller?

It is probably easier to just modify the existing controller. And I believe it is rather clean, no? Except for the name of the controller which no longer matches its scope (but this is already the case with skid steer control anyways...).

What do you think?

Thanks,

Antoine.

[Adolfo Rodríguez Tsouroukdissian]

On Thu, Oct 23, 2014 at 4:07 PM, Antoine Rennuit <antoine...@gmail.com> wrote:

Hello,

I am about to put in place a mecanum drive controller (same purpose as the diff drive controller but for mobile platforms based on mecanum wheels: you provide a twist as input, it outputs wheel velocities). Would you prefer that I create another mode in the existing diff_drive_controller, or that I create another fully new controller?

The diff_drive controller has been also made to work with skid-steer platforms because they both share a similar type of non-holonomic constraint. In contrast, mecanum wheels are holonomic (you can drive them sideways), so I say a different controller would be best.

I suggest you take a look at Jim Rothrock's steered_wheel_base_controller [1].

[1] https://github.com/wunderkammer-laboratory/steered_wheel_base_controller

Adolfo

It is probably easier to just modify the existing controller. And I believe it is rather clean, no? Except for the name of the controller which no longer matches its scope (but this is already the case with skid steer control anyways...).

What do you think?

Thanks,

Antoine.

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[Antoine Rennuit]

Understood. Now is there a specific reason why you pointed me to Jim Rothrock's steered_wheel_base_controller as an example, or is the diff drive controller provided in ros_controllers as good as a starting point?

Antoine.

[Adolfo Rodríguez Tsouroukdissian]

On Mon, Oct 27, 2014 at 2:40 PM, Antoine Rennuit <antoine...@gmail.com> wrote:

Understood. Now is there a specific reason why you pointed me to Jim Rothrock's steered_wheel_base_controller as an example, or is the diff drive controller provided in ros_controllers as good as a starting point?

From the package.xml description:

"steered_wheel_base_controller contains SteeredWheelBaseController, a base controller for mobile robots. The controller works with bases that have two or more independently-steerable driven wheels and zero or more omnidirectional passive wheels (e.g. swivel casters)."

The scope of Jim's controller seems relevant to your usecase. I wanted to bring it to your attention.

Adolfo.

Antoine.

The diff_drive controller has been also made to work with skid-steer platforms because they both share a similar type of non-holonomic constraint. In contrast, mecanum wheels are holonomic (you can drive them sideways), so I say a different controller would be best.

I suggest you take a look at Jim Rothrock's steered_wheel_base_controller [1].

[1] https://github.com/wunderkammer-laboratory/steered_wheel_base_controller

Adolfo

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[Antoine Rennuit]

Perfect, thanks!