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Base Velocity Controller

Introduction

This controller allows you to send velocity commands to the base.

Status: REVIEWED, NOT STABLE .

ROS API

Parameters

max_translational_velocity (double, default: 1.0) max_rotational_velocity (double, default: 2.0) max_translational_acceleration/x (double, default: 2.0) max_translation_acceleration/y (double, default: 2.0) max_rotational_acceleration (double, default: 2.0) kp_caster_steer (double, default: 80.0) timeout (double, default: 0.3) state_publish_rate (double, default: 1.0) caster_names (string, default: "") wheel_radius_multiplier (double, default: 1.0) caster_calibration_multiplier (double, default: 1.0)

Example Configuration:

pr2_base_controller:
  caster_names: fr_caster_rotation_link fl_caster_rotation_link bl_caster_rotation_link br_caster_rotation_link

  type: Pr2BaseController

  caster_pid_gains: &caster_pid_gains
    p: 3.0
    d: 0.0
    i: 0.1
    i_clamp: 4.0
  wheel_pid_gains: &wheel_pid_gains
    p: 3.0
    d: 0.0
    i: 0.01
    i_clamp: 0.4

  fl_caster_l_wheel_joint:
   *wheel_pid_gains
  fl_caster_r_wheel_joint:
   *wheel_pid_gains
  fr_caster_l_wheel_joint:
   *wheel_pid_gains
  fr_caster_r_wheel_joint:
   *wheel_pid_gains
  bl_caster_l_wheel_joint:
   *wheel_pid_gains
  bl_caster_r_wheel_joint:
   *wheel_pid_gains
  br_caster_l_wheel_joint:
   *wheel_pid_gains
  br_caster_r_wheel_joint:
   *wheel_pid_gains

  fr_caster_rotation_joint:
   *caster_pid_gains
  fl_caster_rotation_joint:
   *caster_pid_gains
  bl_caster_rotation_joint:
   *caster_pid_gains
  br_caster_rotation_joint:
   *caster_pid_gains

  kp_caster_steer: 80.0
  timeout: 0.2
  max_translational_acceleration: 
   x: 2.0
   y: 2.0 
  max_rotational_acceleration: 2.0
  state_publish_rate: 0.25

  max_translational_velocity: 1.0 
  max_rotational_velocity: 2.0

Published Topics

<name>/state (pr2_mechanism_controllers/BaseControllerState)

Subscribed Topics

<name>/command (geometry_msgs/Twist)

2019-10-12 12:57