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Support mecanum drive #124

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Support mecanum drive #124

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mqcmd196
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Supporting mecanum drive in kxr with wheels. Cc: @a-ichikura

@iory iory self-requested a review November 29, 2024 09:52
@mqcmd196
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mqcmd196 commented Dec 1, 2024

TODO: send mecanum drive controller's PR to https://github.com/ros-controls/ros_controllers

@mqcmd196 mqcmd196 marked this pull request as ready for review December 2, 2024 08:16
@mqcmd196
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mqcmd196 commented Dec 2, 2024

@iory
I confirmed that the patch works on @a-ichikura 's robot.
BTW, this PR's cmd_vel namespace is ridgeback_control, and it should be fixed. What is the appropriate name? I think /cmd_vel is better

@iory
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iory commented Dec 2, 2024

Could you upload video?
/cmd_vel is fine.

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mqcmd196 commented Dec 2, 2024 via email

@a-ichikura
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When you send the /cmd_vel with linear.x, the robot moves forward or back.

$ rostopic pub -1 /ridgeback_control/cmd_vel geometry_msgs/Twist "linear:
  x: 0.1
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message for 3.0 seconds

When you send the /cmd_vel with linear.y, the robot moves left or right.

$ rostopic pub -1 /ridgeback_control/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.1
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.0" 
publishing and latching message for 3.0 seconds

When you send the /cmd_vel with angular.z, the robot turns around.

$ rostopic pub -1 /ridgeback_control/cmd_vel geometry_msgs/Twist "linear:
  x: 0.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 0.1" 
publishing and latching message for 3.0 seconds
Video_20241203_104708_387.mp4
Video_20241203_104708_397.mp4
Video_20241203_104708_399.mp4

@mqcmd196
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mqcmd196 commented Dec 4, 2024

TODO: send mecanum drive controller's PR to https://github.com/ros-controls/ros_controllers

update: ros-controls/ros_controllers#558 There are some patches, but not released

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mqcmd196 commented Dec 4, 2024

I noticed the PR doesn't work with roslaunch kxr_controller kxr_controller_for_wheel.launch . It had better to send PR to https://github.com/iory/robot-programming/tree/jedy.

I'm not sure the difference between Jedy and kxrmw4a6h2m ...

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3 participants