Steer Drive Controller

Controller for a steer drive mobile base.

仕様

• Subscribe
  • steer_drive_controller/cmd_vel にTwist型のメッセージを投げて下さい．

• Publish

  • steer_drive_controller/odom を出すべきなのですが，未完成です．

• 例：SteerDriveController + SteerBot(RobotHWSim) で起動して，以下のメッセージで動く

rostopic pub -1 steer_drive_controller/cmd_vel geometry_msgs/Twist -- '[1.0, 0.0, 0.0]' '[0.0, 0.0, 0.5]'

third_robotのlinkメモ

ベース

• base_link

ステアリング

• steer

ホイール

• left_front_wheel
• left_rear_wheel
• right_front_wheel
• right_rear_wheel

センサ

• camera_link
• front_bottom_lrf
• front_top_lrf
• rear_bottom_lrf

third_robotのjointメモ

ホイール

• base_to_left_front_wheel
• base_to_left_rear_wheel
• base_to_right_front_wheel
• base_to_right_rear_wheel

ステアリング

• base_to_steer
• base_to_steer_right: gazebo用のvirtual.
• base_to_steer_left: gazebo用のvirtual.

デバッグ開発の手順

準備

• パスを通す

source path.bash

• gazeboを実行する

roslaunch third_robot_gazebo third_robot_world.launch 

• コントローラ動作用の最低限の設定を行うlaunchファイルを実行する

roslaunch steer_drive_controller steer_drive_test_setting.launch 

デバッガ

• パスを通したコンソールでQtCreatorを起動する

qtcreator

• QtCreatorでROSのパッケージをビルド&デバッグ実行するにしたがってビルドする．実行オプションでsteer_drive_testを選択する．

• third_robot_control/steer_drive_controller/include/steer_drive_controller.h内で#define GUI_DEBUGをアンコメントアウトする．

  • 53行目：#define GUI_DEBUG // uncommentout when you use qtcreator for debugging ってとこ．
  • デバッグ用のモジュールに名前空間がついてないので，無理やり付与する設定．

• third_robot_control/steer_drive_controller/test/steer_drive_test.cpp のmain関数内でブレイクポイントを置いてデバッグ実行．

  • SteerRobotはフェイクで作ってある．
  • bool rt_code = rb_controller.init(steer_drive_bot, nh_main, nh_control); でコントローラの初期化

Changelog for package diff_drive_controller

0.9.3 (2016-02-12)

• Reduced pedantry, redundancy.
• Added tests for the odom_frame_id parameter.
• Parameterized diff_drive_controller\'s odom_frame_id
• add check for multiple publishers on cmd_vel
• Address -Wunused-parameter warnings
• Limit jerk
• Add param velocity_rolling_window_size
• Minor fixes
  1. Coding style
  2. Tolerance to fall-back to Runge-Kutta 2 integration
  3. Remove unused variables
• Fix forward test Fix the following bugs in the testForward test:
  1. Check traveled distance in XY plane
  2. Use expected speed variable on test check
• Add test for NaN
• Add test for bad URDF This unit test exercises a controller load failure caused by a wrong wheel geometry. The controller requires that wheels be modeled by cylinders, while the bad URDF uses spheres.
• Contributors: Adolfo Rodriguez Tsouroukdissian, Bence Magyar, Enrique Fernandez, Eric Tappan, Karsten Knese, Paul Mathieu, tappan-at-git

0.9.2 (2015-05-04)

• Allow the wheel separation and radius to be set from different sources i.e. one can be set from the URDF, the other from the parameter server. If wheel separation and wheel diameter is specified in the parameter server, don\'t look them up from urdf
• Contributors: Bence Magyar, Nils Berg

0.9.1 (2014-11-03)

0.9.0 (2014-10-31)

• Add support for multiple wheels per side
• Odometry computation:
  • New option to compute in open loop fashion
  • New option to skip publishing odom frame to tf
• Remove dependency on angles package
• Buildsystem fixes
• Contributors: Bence Magyar, Lukas Bulwahn, efernandez

0.8.1 (2014-07-11)

0.8.0 (2014-05-12)

• Add base_frame_id param (defaults to base_link) The nav_msgs/Odometry message specifies the child_frame_id field, which was previously not set. This commit creates a parameter to replace the previously hard-coded value of the child_frame_id of the published tf frame, and uses it in the odom message as well.
• Contributors: enriquefernandez

0.7.2 (2014-04-01)

0.7.1 (2014-03-31)

• Changed test-depend to build-depend for release jobs.
• Contributors: Bence Magyar

0.7.0 (2014-03-28)

• diff_drive_controller: New controller for differential drive wheel systems.

* Control is in the form of a velocity command, that is split then sent on the two wheels of a differential drive wheel base. * Odometry is published to tf and to a dedicated nav__msgs/Odometry topic. * Realtime-safe implementation. * Implements task-space velocity and acceleration limits. * Automatic stop after command time-out. * Contributors: Bence Magyar, Paul Mathieu, Enrique Fernandez.