Ackermann steering controller which can be attached to a model with any number of left and right wheels. More...
#include <AckermannSteering.hh>
Public Member Functions | |
AckermannSteering () | |
Constructor. More... | |
~AckermannSteering () override=default | |
Destructor. More... | |
void | Configure (const Entity &_entity, const std::shared_ptr< const sdf::Element > &_sdf, EntityComponentManager &_ecm, EventManager &_eventMgr) override |
Configure the system. More... | |
void | PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override |
void | PreUpdate (const gz::sim::UpdateInfo &_info, gz::sim::EntityComponentManager &_ecm) override |
Public Member Functions inherited from System | |
System ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
Destructor. More... | |
Detailed Description
Ackermann steering controller which can be attached to a model with any number of left and right wheels.
System Parameters
<left_joint>
: Name of a joint that controls a left wheel. This element can appear multiple times, and must appear at least once.
<right_joint>
: Name of a joint that controls a right wheel. This element can appear multiple times, and must appear at least once.
<left_steering_joint>
: Name of a joint that controls steering for left wheel. This element must appear once. Vehicles that steer rear wheels are not currently correctly supported.
<right_steering_joint>
: Name of a joint that controls steering for right wheel. This element must appear once.
<wheel_separation>
: Distance between wheels, in meters. This element is optional, although it is recommended to be included with an appropriate value. The default value is 1.0m.
<kingpin_width>
: Distance between wheel kingpins, in meters. This element is optional, although it is recommended to be included with an appropriate value. The default value is 0.8m. Generally a bit smaller than the wheel_separation.
<wheel_base>
: Distance between front and rear wheels, in meters. This element is optional, although it is recommended to be included with an appropriate value. The default value is 1.0m.
<steering_limit>
: Value to limit steering to. Can be calculated by measuring the turning radius and wheel_base of the real vehicle. steering_limit = asin(wheel_base / turning_radius) The default value is 0.5 radians.
<wheel_radius>
: Wheel radius in meters. This element is optional, although it is recommended to be included with an appropriate value. The default value is 0.2m.
<odom_publish_frequency>
: Odometry publication frequency. This element is optional, and the default value is 50Hz.
<min_velocity>
: Minimum velocity [m/s], usually <= 0. <max_velocity>
: Maximum velocity [m/s], usually >= 0. <min_acceleration>
: Minimum acceleration [m/s^2], usually <= 0. <max_acceleration>
: Maximum acceleration [m/s^2], usually >= 0. <min_jerk Minimum>
: jerk [m/s^3], usually <= 0. <max_jerk Maximum>
: jerk [m/s^3], usually >= 0.
<topic>
: Custom topic that this system will subscribe to in order to receive command velocity messages. This element if optional, and the default value is /model/{name_of_model}/cmd_vel
.
<odom_topic>
: Custom topic on which this system will publish odometry messages. This element if optional, and the default value is /model/{name_of_model}/odometry
.
<tf_topic>
: Custom topic on which this system will publish the transform from frame_id
to child_frame_id
. This element is optional, and the default value is /model/{name_of_model}/tf
.
<frame_id>
: Custom frame_id
field that this system will use as the origin of the odometry transform in both the <tf_topic>
ignition.msgs.Pose_V
message and the <odom_topic>
ignition.msgs.Odometry
message. This element if optional, and the default value is {name_of_model}/odom
.
<child_frame_id>
: Custom child_frame_id
that this system will use as the target of the odometry transform in both the <tf_topic>
ignition.msgs.Pose_V
message and the <odom_topic>
ignition.msgs.Odometry
message. This element if optional, and the default value is {name_of_model}/{name_of_link}
.
A robot with rear drive and front steering would have one each of left_joint, right_joint, left_steering_joint and right_steering_joint
References: https://github.com/gazebosim/gz-sim/tree/main/src/systems/ackermann_steering https://www.auto.tuwien.ac.at/bib/pdf_TR/TR0183.pdf https://github.com/froohoo/ackermansteer/blob/master/ackermansteer/
Constructor & Destructor Documentation
◆ AckermannSteering()
Constructor.
◆ ~AckermannSteering()
|
overridedefault |
Destructor.
Member Function Documentation
◆ Configure()
|
overridevirtual |
Configure the system.
- Parameters
-
[in] _entity The entity this plugin is attached to. [in] _sdf The SDF Element associated with this system plugin. [in] _ecm The EntityComponentManager of the given simulation instance. [in] _eventMgr The EventManager of the given simulation instance.
Implements ISystemConfigure.
◆ PostUpdate()
|
overridevirtual |
Implements ISystemPostUpdate.
◆ PreUpdate()
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overridevirtual |
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: