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.
Other features
Realtime-safe implementation. Odometry publishing Velocity, acceleration and jerk limits Automatic stop after command timeout
ROS 2 Interfaces
Subscribers
- ~/cmd_vel [geometry_msgs/msg/TwistStamped]
Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
Parameters
This controller uses the generate_parameter_library to handle its parameters.