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Mecanum drive #558

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Mecanum drive #558

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Commits on Mar 21, 2021

  1. Made an exact copy of diff_drive_controller and called it mecanum_dri… 

    …ve_controller.
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  2. Got the mecanum_drive_controller compile (not tested yet and should n… 

    …ot work).
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  3. Some class and namespace renaming

    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  4. Had mecanum_drive_controller compile. This lead to 2 modifications: 

       * 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)
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  5. 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.
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  6. Parameters were added to limit elocity on the y direction (it was alr… 

    …eady done for the x direction and the rotation).
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  7. A parameter was added to check whether the setup uses simulated mecan… 

    …um wheels using realigned rollers.
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  8. 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.
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  9. Namespace cleaning (should not change behavior).

    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  10. Integrate the odometry pose in the /odom frame, because: 

       * 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)
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  11. [mecanum_drive] Removed odometry's velocity filtering (it introduced … 

    …delay in the reported velocity).
    @bmagyar
    Antoine Rennuit authored and bmagyar committed Mar 21, 2021
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  12. [vrep_scene] The definition of the urdf is now close to the scene def… 

    …inition in vrep.
    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  13. [mecanum_drive] Minor fixes (from community peer review on github).

    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  14. [mecanum_drive] Made it possible to offset the base frame with respec… 

    …t to the center frame in the odometry (FK).
    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  15. [mecanum_drive] Made it possible to offset the base frame with respec… 

    …t to the center frame in the command (IK side).
    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  16. [mecanum_drive] Get rid of speed_limiter (unused).

    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  17. [mecanum_drive] Added some more details to the readme.md file.

    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  18. [mecanum_drive] Minor cleaning (should not change behavior).

    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  19. [vrep_scene] Minor reorganisation (no impact on behavior).

    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  20. [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 frame, a topic and the short name for the odometry class...
    @arennuit @bmagyar
    arennuit authored and bmagyar committed Mar 21, 2021
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  21. Functional fixup for Noetic

    @bmagyar
    bmagyar committed Mar 21, 2021
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