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Add mobile robot kinematics 101 and improve steering library docs #954

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Jun 5, 2024
Merged

Add mobile robot kinematics 101 and improve steering library docs #954

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d7d2b4c
Reformat steering_controllers_lib_userdoc
christophfroehlich May 27, 2024
bc98dfc
Resort the controller specialization under steering lib
christophfroehlich May 27, 2024
9a43194
Add figures and explanation of uni,bi,tricycle
christophfroehlich May 27, 2024
9cf1660
Add ackermann steering
christophfroehlich May 27, 2024
8ad512c
Add literature reference
christophfroehlich May 27, 2024
4435406
Improve formating
christophfroehlich May 27, 2024
be19c7b
Fix ackermann odometry equation
christophfroehlich May 27, 2024
36ec1e6
Fix ackermann odometry equation again
christophfroehlich May 27, 2024
51420d5
Add more literature references
christophfroehlich May 27, 2024
11468be
Export figures with correct font and transparent bg
christophfroehlich May 27, 2024
6189952
Move mobile robot kinematics 101 outside of steering lib
christophfroehlich May 27, 2024
b2a13a9
Add diff-drive kinematics
christophfroehlich May 27, 2024
1b9402d
Add (empty) section for omnidirectional robots
christophfroehlich May 27, 2024
3b1b3b2
Proofread
christophfroehlich May 27, 2024
672afaa
Use lowercase theta for steering angle
christophfroehlich May 27, 2024
c27108d
Also change Theta to theta in images
christophfroehlich May 27, 2024
5d6aee7
Fix EOL of svgs
christophfroehlich May 27, 2024
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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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1 change: 1 addition & 0 deletions doc/images/.gitignore
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*.bkp
251 changes: 251 additions & 0 deletions doc/images/ackermann_steering.drawio
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287 changes: 287 additions & 0 deletions doc/images/ackermann_steering_traction.drawio
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173 changes: 173 additions & 0 deletions doc/images/car_like_robot.drawio
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3 changes: 3 additions & 0 deletions doc/images/car_like_robot.svg
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