WIP: Add AckermannDriveStamped control to steering library #1563
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anfemosa,
christophfroehlich,
destogl,
erickisos,
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rosterloh
wittenator
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The tests on HEAD are currently broken, but I wanted to get this PR out in order to track progress. |
christophfroehlich
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Mar 19, 2025
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why WIP?
Please fix the failing jobs, start with the pre-commit and clang job.
The tests on the master branch are green.
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Can you please use the new convert_steering_angle_to_angular_velocity method in the existing parts of the code, where the same formula is used?
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| * \brief Calculates angular velocity from the desired steering angle | ||
| * \param v_bx Desired linear velocity of the robot in x_b-axis direction | ||
| * \param phi Desired steering angle |
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| * \brief Calculates angular velocity from the desired steering angle | |
| * \param v_bx Desired linear velocity of the robot in x_b-axis direction | |
| * \param phi Desired steering angle | |
| * \brief Calculates angular velocity from the steering angle and linear velocity | |
| * \param v_bx Linear velocity of the robot in x_b-axis direction | |
| * \param phi Steering angle |
can be used for odometry as well
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This PR adds the option to use steering angle and linear velocity for controllers that inherit from the steering library.
To send us a pull request, please:
colcon testandpre-commit run(requires you to install pre-commit bypip3 install pre-commit)