Mecanum drive #558

bmagyar · 2021-03-21T20:12:11Z

Rebase & quick fixup of #149

…ve_controller.

…ot work).

* wheel radius can now be retrieved from spheres (as well as cylinders) * the roller's radius is used rather than the wheel's (need an option for this)

…can only take a n X desired speed as it cannot move sideways instantaneously speaking). This second parameter is not used yet.

…eady done for the x direction and the rotation).

…um wheels using realigned rollers.

…which is to be provided is a body velocity, not a space velocity: I need to check whether this is standard or not.

* the odometry pose is expressed in the odom frame (as a ros convention) * the odometry twist is a body twist (as a ros convention) * the input desired twist is also a body twist (as a ros convention)

…delay in the reported velocity).

…inition in vrep.

…t to the center frame in the odometry (FK).

…t to the center frame in the command (IK side).

…as it turned out rather misleading between the different occurences of the odom name (odom used to correspond to a reference frame, a topic and the short name for the odometry class...

Antoine Rennuit and others added 21 commits March 21, 2021 19:39

Made an exact copy of diff_drive_controller and called it mecanum_dri…

632e506

…ve_controller.

Got the mecanum_drive_controller compile (not tested yet and should n…

cbf051f

…ot work).

Some class and namespace renaming

613f9e5

Had mecanum_drive_controller compile. This lead to 2 modifications:

e16e2ea

* wheel radius can now be retrieved from spheres (as well as cylinders) * the roller's radius is used rather than the wheel's (need an option for this)

Added a second linearY parameter along linearX (a differential drive …

d01822e

…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 alr…

7a37be1

…eady done for the x direction and the rotation).

A parameter was added to check whether the setup uses simulated mecan…

34d0d21

…um wheels using realigned rollers.

First version of the mecanum wheels IK in (rough test ok). The twist …

8ab247d

…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).

71a12a8

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

f580175

* the odometry pose is expressed in the odom frame (as a ros convention) * the odometry twist is a body twist (as a ros convention) * the input desired twist is also a body twist (as a ros convention)

[mecanum_drive] Removed odometry's velocity filtering (it introduced …

3a1eab5

…delay in the reported velocity).

[vrep_scene] The definition of the urdf is now close to the scene def…

1ae16bf

…inition in vrep.

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

a96fbf8

[mecanum_drive] Made it possible to offset the base frame with respec…

c730086

…t to the center frame in the odometry (FK).

[mecanum_drive] Made it possible to offset the base frame with respec…

bd345d7

…t to the center frame in the command (IK side).

[mecanum_drive] Get rid of speed_limiter (unused).

188be8f

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

d4c141b

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

071c3a8

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

e490798

[mecanum_drive] Modified the name of the odom "topic" in "odomTopic" …

69b9814

…as it turned out rather misleading between the different occurences of the odom name (odom used to correspond to a reference frame, a topic and the short name for the odometry class...

Functional fixup for Noetic

de3b6bb

bmagyar requested a review from matthew-reynolds July 30, 2021 06:11

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Mecanum drive #558

Mecanum drive #558

bmagyar commented Mar 21, 2021 •

edited

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Mecanum drive #558

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Mecanum drive #558

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bmagyar commented Mar 21, 2021 • edited Loading

bmagyar commented Mar 21, 2021 •

edited

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