ros2_controllers
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ros-controls
Request: ackermann_steering_controller
Feature request: Ackermann steering controller
It seems it was available in ros1. However the implementation seemed off.
Also support for front-wheel drive seems to be missing. The front wheels have a different radius they drive about, so the velocity is slightly different. But in case of e.g. a forklift this becomes significant.
I'm rather new to ros2_control and this requires several interfaces on velocity and position level.
If somebody is willing to give a head-start by providing the cpp/hpp dummy classes, I'm happy to finish the work with all logic/algorithms involved!
I think the work here would be porting the existing controller to ros2. The tests are where a lot of complexity lies but good news is that they are basically copies of the diff drive tests. Bad news is that we never got around to porting "the good stuff" when it comes to tests.
If somebody is willing to give a head-start by providing the cpp/hpp dummy classes, I'm happy to finish the work with all logic/algorithms involved!
@Timple Are you still interested into this? I could find some time to set up initial files and tests.
Yup, this is still on our 'todo' list.
Altough it also seems that it would just be a subset of this: https://discourse.ros.org/t/independent-swerve-steering-controller-for-ros-control/21534/1
Eitherway having the dummy classes and tests would really help!
If somebody is willing to give a head-start by providing the cpp/hpp dummy classes, I'm happy to finish the work with all logic/algorithms involved!
@Timple Are you still interested into this? I could find some time to set up initial files and tests.
@destogl do you think you may still find time for this?