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Mecanum drive#558

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bmagyar wants to merge 21 commits intoros-controls:noetic-develros-controls/ros_controllers:noetic-develfrom bmagyar:mecanum_drivebmagyar/ros_controllers:mecanum_driveCopy head branch name to clipboard

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Commits

Commits on Mar 21, 2021

• Made an exact copy of diff_drive_controller and called it mecanum_drive_controller.

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  632e506

• Got the mecanum_drive_controller compile (not tested yet and should not work).

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  cbf051f

• Some class and namespace renaming

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  613f9e5

• Had mecanum_drive_controller compile. This lead to 2 modifications:

  Show description for e16e2ea
  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  e16e2ea

• Added a second linearY parameter along linearX (a differential drive can only take a n X desired speed as it cannot move sideways instantaneously speaking). This second parameter is not used yet.

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  d01822e

• Parameters were added to limit elocity on the y direction (it was already done for the x direction and the rotation).

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  7a37be1

• A parameter was added to check whether the setup uses simulated mecanum wheels using realigned rollers.

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  34d0d21

• First version of the mecanum wheels IK in (rough test ok). The twist which is to be provided is a body velocity, not a space velocity: I need to check whether this is standard or not.

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  8ab247d

• Namespace cleaning (should not change behavior).

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  71a12a8

• Integrate the odometry pose in the /odom frame, because:

  Show description for f580175
  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  f580175

• [mecanum_drive] Removed odometry's velocity filtering (it introduced delay in the reported velocity).

  

  Antoine Rennuit

  authored and

  bmagyar

  committed
  3a1eab5

• [vrep_scene] The definition of the urdf is now close to the scene definition in vrep.

  

  arennuit

  authored and

  bmagyar

  committed
  1ae16bf

• [mecanum_drive] Minor fixes (from community peer review on github).

  

  arennuit

  authored and

  bmagyar

  committed
  a96fbf8

• [mecanum_drive] Made it possible to offset the base frame with respect to the center frame in the odometry (FK).

  

  arennuit

  authored and

  bmagyar

  committed
  c730086

• [mecanum_drive] Made it possible to offset the base frame with respect to the center frame in the command (IK side).

  

  arennuit

  authored and

  bmagyar

  committed
  bd345d7

• [mecanum_drive] Get rid of speed_limiter (unused).

  

  arennuit

  authored and

  bmagyar

  committed
  188be8f

• [mecanum_drive] Added some more details to the readme.md file.

  

  arennuit

  authored and

  bmagyar

  committed
  d4c141b

• [mecanum_drive] Minor cleaning (should not change behavior).

  

  arennuit

  authored and

  bmagyar

  committed
  071c3a8

• [vrep_scene] Minor reorganisation (no impact on behavior).

  

  arennuit

  authored and

  bmagyar

  committed
  e490798

• [mecanum_drive] Modified the name of the odom "topic" in "odomTopic" as it turned out rather misleading between the different occurences of the odom name (odom used to correspond to a reference fra…

  Show description for 69b9814
  

  arennuit

  authored and

  bmagyar

  committed
  69b9814

• Functional fixup for Noetic

  bmagyar

  committed
  de3b6bb