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Add mobile robot kinematics 101 and improve steering library docs (#954)
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(cherry picked from commit d076ea2)

# Conflicts:
#	steering_controllers_library/doc/userdoc.rst
#	tricycle_controller/doc/userdoc.rst
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@christophfroehlich @mergify
christophfroehlich authored and mergify[bot] committed Jun 5, 2024
1 parent 8b9c2e2 commit 041312a
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2 changes: 2 additions & 0 deletions diff_drive_controller/doc/userdoc.rst
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Expand Up @@ -11,6 +11,8 @@ As input it takes velocity commands for the robot body, which are translated to

Odometry is computed from hardware feedback and published.

For an introduction to mobile robot kinematics and the nomenclature used here, see :ref:`mobile_robot_kinematics`.

Other features
--------------

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7 changes: 2 additions & 5 deletions doc/controllers_index.rst
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Expand Up @@ -21,18 +21,15 @@ Guidelines and Best Practices
*


Controllers for Mobile Robots
*****************************
Controllers for Wheeled Mobile Robots
*************************************

.. toctree::
:titlesonly:

Ackermann Steering Controller <../ackermann_steering_controller/doc/userdoc.rst>
Bicycle Steering Controller <../bicycle_steering_controller/doc/userdoc.rst>
Differential Drive Controller <../diff_drive_controller/doc/userdoc.rst>
Steering Controllers Library <../steering_controllers_library/doc/userdoc.rst>
Tricycle Controller <../tricycle_controller/doc/userdoc.rst>
Tricycle Steering Controller <../tricycle_steering_controller/doc/userdoc.rst>

Controllers for Manipulators and Other Robots
*********************************************
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*.bkp
251 changes: 251 additions & 0 deletions doc/images/ackermann_steering.drawio
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173 changes: 173 additions & 0 deletions doc/images/car_like_robot.drawio
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