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Ackermann Steering Controller #288

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samehmohamed88 opened this issue Jan 26, 2022 · 5 comments
Closed

Ackermann Steering Controller #288

samehmohamed88 opened this issue Jan 26, 2022 · 5 comments

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@samehmohamed88
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samehmohamed88 commented Jan 26, 2022 •
edited by destogl

Background

Aside from issue #264 have there been any attempts at an ackermann controller for ros2-controllers? From what I can tell of that issue, the port is no longer being worked on.

Here's what I currently have:

  1. A project with a URDF description that is gazebo valid and spawns a simple 4 wheel robot
  2. Integration with gazebo_ros2_control linking to the ros2-control Diff Drive controller config
  3. the small city world in Gazebo with a few cars, streets, stop signs, traffic lights, etc

My plan is to follow the instructions in this comment and begin attempting to implement an ackerman steering controller.

If I am successful in this, I may then open a PR for the controller, plus a PR in ros-control-demos with the content I described above.

Any input, feedback, or direction is highly welcomed!
@samehmohamed88 samehmohamed88 changed the title Ackerman Steering Controller Ackermann Steering Controller Jan 26, 2022
@bmagyar
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bmagyar commented Jan 29, 2022

This would be a very welcome change, thank you! Would you mind posting the same message in #264 that you are essentially planning to take over this effort to notify the people over there? And this issue could be closed as a duplicate of that.

@samehmohamed88
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Sure thing! Will do...

@tonynajjar
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Hi @armuren, I'm sure many are impatiently waiting for your contributions! Could you share any updates on your progress?

@tonynajjar
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tonynajjar commented May 2, 2022 •
edited

We waited so impatiently that we decided to give it a try ourselves 😄 :#345
It's not exactly ackermann but I think with minor changes it could also work for ackermann as the kinematics are very similar to tricycle as far as I know

@samehmohamed88
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@tonynajjar my apologies! I got distracted and was not able to follow up on this. I will close this PR

gwalck pushed a commit to StoglRobotics-forks/ros2_controllers that referenced this issue Jun 7, 2023
@destogl
Move test_components from test_robot_hardware to hardware_interface p…
eb59ce0 
…ackage (ros-controls#288)

* Remove test_robot_hardware package and move example hardware components to test folder of hardware_interface.

* Remove package from ci and lint configuration

* Correct diff to CMakeLists.txt
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3 participants
@samehmohamed88 @bmagyar @tonynajjar