diff drive skid steer #138
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A visual inspection of the code looks OK. There are unit tests (horray!) and the controller has been validated in different hardware platforms, so from my part: +1 It's great to see that writing a new controller was not necessary in the end. Good stuff guys! |
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I'll fix this build tonight. |
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Looks great, thanks very much for the work on this. As noted in the sig mailing list, I am having a weird issue with my system using this controller. However, I suspect it's a problem with my hardware node, or elsewhere in my system, rather than with the controller specifically. +1 from me. |
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Test xacros fixed. |
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This PR is an update from the hydro-devel branch of ros_controllers from PAL Robotics, and it depends on #137.
It adds support for multiple wheels per side to the diff_drive_controller.
This version of the diff_drive_controller is the one that is currently running on all PAL Robotics platforms and on the Jackal from Clearpath Robotics.
Related PRs:
pal-robotics-forks#42
#10