ros2_controller_for_holonomic_wheels

ros2_controller for holonomic wheels (ex: omni wheels or mechanum wheels)

Overview

omni_3wd_controller

This is ros2_controller for a 3wd omni.

omni_4wd_controller

This is ros2_controller for 4wd omni or 4wd mecanum.

Build & Install

1. clone this repository to any workspace.
2. resolve dependencies with rosdep

rosdep install --from-paths src --ignore-src -r -y

3. build

colcon build

4. do source install/setup.*sh (the *sh part depends on your environment)

About parameters

Please refer to the description in omni_4wd_controller_parameter.yaml

Reference

メカナムホイールロボットの制御
ros2_controllers/diff_drive_controller

Lisence

Apache License 2.0

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概要

omni_3wd_controller

3輪オムニのros2_controllerです。

omni_4wd_controller

4輪オムニおよび4輪メカナムのros2_controllerです。

ビルド＆インストール

1. 任意のワークスペースにこのレポジトリをクローンします。
2. rosdepにて依存関係を解消します

rosdep install --from-paths src --ignore-src -r -y

3. ビルドします

colcon build

4. source install/setup.*shします (*shの部分は各自の環境に依存)

パラメータについて

omni_4wd_controller_parameter.yamlのディスクリプションを参考にしてください

参考

メカナムホイールロボットの制御
ros2_controllers/diff_drive_controller

ライセンス

Apache License 2.0

configの例 (config example)

4wd

omnibot_base_controller:
  ros__parameters:
    front_right_wheel_name: "front_right_wheel_motor_shaft_joint"
    front_left_wheel_name: "front_left_wheel_motor_shaft_joint"
    rear_right_wheel_name: "rear_right_wheel_motor_shaft_joint"
    rear_left_wheel_name: "rear_left_wheel_motor_shaft_joint"
    wheel_width_separation: 0.128
    wheel_height_separation: 0.128
    wheel_radius: 0.025
    wheel_separation_multiplier: 1.0
    left_wheel_radius_multiplier: 1.0
    right_wheel_radius_multiplier: 1.0
    tf_frame_prefix_enable: true
    tf_frame_prefix: ""
    odom_frame_id: "odom"
    base_frame_id: "base_link"
    pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

    open_loop: false
    position_feedback: true
    position_feedback_slip_xy_coefficient: 0.75
    enable_odom_tf: false

    cmd_vel_timeout: 0.5
    #publish_limited_velocity: true
    use_stamped_vel: false
    #velocity_rolling_window_size: 10

    # Velocity and acceleration limits
    # Whenever a min_* is unspecified, default to -max_*
    linear.x.has_velocity_limits: true
    linear.x.has_acceleration_limits: true
    linear.x.has_jerk_limits: false
    linear.x.max_velocity: 1.0
    linear.x.min_velocity: -1.0
    linear.x.max_acceleration: 1.0
    linear.x.max_jerk: 0.0
    linear.x.min_jerk: 0.0

    linear.y.has_velocity_limits: true
    linear.y.has_acceleration_limits: true
    linear.y.has_jerk_limits: false
    linear.y.max_velocity: 1.0
    linear.y.min_velocity: -1.0
    linear.y.max_acceleration: 1.0
    linear.y.max_jerk: 0.0
    linear.y.min_jerk: 0.0

    angular.z.has_velocity_limits: true
    angular.z.has_acceleration_limits: true
    angular.z.has_jerk_limits: false
    angular.z.max_velocity: 1.0
    angular.z.min_velocity: -1.0
    angular.z.max_acceleration: 1.0
    angular.z.min_acceleration: -1.0
    angular.z.max_jerk: 0.0
    angular.z.min_jerk: 0.0

3wd

omni3wdbot_base_controller:
  ros__parameters:
    front_wheel_name: "front_wheel_motor_shaft_joint"
    rear_right_wheel_name: "rear_right_wheel_motor_shaft_joint"
    rear_left_wheel_name: "rear_left_wheel_motor_shaft_joint"
    wheel_separation_from_robot_center: 0.10
    wheel_radius: 0.025
    wheel_separation_multiplier: 1.0
    left_wheel_radius_multiplier: 1.0
    right_wheel_radius_multiplier: 1.0
    tf_frame_prefix_enable: true
    tf_frame_prefix: ""
    odom_frame_id: "odom"
    base_frame_id: "base_link"
    pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    twist_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

    open_loop: false
    position_feedback: true
    enable_odom_tf: false

    cmd_vel_timeout: 0.5
    #publish_limited_velocity: true
    use_stamped_vel: false
    #velocity_rolling_window_size: 10

    # Velocity and acceleration limits
    # Whenever a min_* is unspecified, default to -max_*
    linear.x.has_velocity_limits: true
    linear.x.has_acceleration_limits: true
    linear.x.has_jerk_limits: false
    linear.x.max_velocity: 1.0
    linear.x.min_velocity: -1.0
    linear.x.max_acceleration: 1.0
    linear.x.max_jerk: 0.0
    linear.x.min_jerk: 0.0

    linear.y.has_velocity_limits: true
    linear.y.has_acceleration_limits: true
    linear.y.has_jerk_limits: false
    linear.y.max_velocity: 1.0
    linear.y.min_velocity: -1.0
    linear.y.max_acceleration: 1.0
    linear.y.max_jerk: 0.0
    linear.y.min_jerk: 0.0

    angular.z.has_velocity_limits: true
    angular.z.has_acceleration_limits: true
    angular.z.has_jerk_limits: false
    angular.z.max_velocity: 1.0
    angular.z.min_velocity: -1.0
    angular.z.max_acceleration: 1.0
    angular.z.min_acceleration: -1.0
    angular.z.max_jerk: 0.0
    angular.z.min_jerk: 0.0