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All Wheel Drive for Ackermann #648

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roncapat opened this issue Jun 5, 2023 · 3 comments
Open

All Wheel Drive for Ackermann #648

roncapat opened this issue Jun 5, 2023 · 3 comments

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@roncapat
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roncapat commented Jun 5, 2023

It is my understanding that currently the Ackermann controller provides traction control to the rear wheels, while the front ones are passive (just steered). For my application, I have an all-wheel-drive ackermann vehicle.

Would a patch providing all-wheel-drive option to Ackermann be welcomed here?
I would later also like to develop a 4-steerable-wheel version of the controller ("double ackermann")... would also this second one be of interest then? Most of the code may be reused.

@space192
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I would love to see this feature implemented as of right now using a 4 wheel vehicule is pretty complicated when using ackermann

@bmagyar
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bmagyar commented Jun 11, 2023

A 4-wheel steering controller is always welcome, there was also one in ROS1 in ros_control.

Regarding the all wheel drive param in happy to incorporate it as long as it retains the current code cleanliness.

@roncapat
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roncapat commented Jul 7, 2023

May I ask you to have a look at #692?

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