tricycle_controller

Controller for mobile robots with a single double-actuated wheel, including traction and steering. An example is a tricycle robot with the actuated wheel in the front and two trailing wheels on the rear axle.

Input for control are robot base_link twist commands which are translated to traction and steering commands for the tricycle drive base. Odometry is computed from hardware feedback and published.

Velocity commands

The controller works with a velocity twist from which it extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.

Other features

Realtime-safe implementation. Odometry publishing Velocity, acceleration and jerk limits Automatic stop after command timeout

Parameters

This controller uses the generate_parameter_library to handle its parameters.