Differential drive controller which can be attached to a model with any number of left and right wheels. More...
#include <DiffDrive.hh>
Public Member Functions | |
DiffDrive () | |
Constructor. More... | |
~DiffDrive () 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 |
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System ()=default | |
Constructor. More... | |
virtual | ~System ()=default |
Destructor. More... | |
Detailed Description
Differential drive 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.
<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.
<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.
<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}
.
<min_velocity>
: Sets both the minimum linear and minimum angular velocity.
<max_velocity>
: Sets both the maximum linear and maximum angular velocity.
<min_acceleration>
: Sets both the minimum linear and minimum angular acceleration.
<max_acceleration>
: Sets both the maximum linear and maximum angular acceleration.
<min_jerk>
: Sets both the minimum linear and minimum angular jerk.
<max_jerk>
: Sets both the maximum linear and maximum angular jerk.
<min_linear_velocity>
: Sets the minimum linear velocity. Overrides <min_velocity>
if set.
<max_linear_velocity>
: Sets the maximum linear velocity. Overrides <max_velocity>
if set.
<min_angular_velocity>
: Sets the minimum angular velocity. Overrides <min_velocity>
if set.
<max_angular_velocity>
: Sets the maximum angular velocity. Overrides <max_velocity>
if set.
<min_linear_acceleration>
: Sets the minimum linear acceleration. Overrides <min_acceleration>
if set.
<max_linear_acceleration>
: Sets the maximum linear acceleration. Overrides <max_acceleration>
if set.
<min_angular_acceleration>
: Sets the minimum angular acceleration. Overrides <min_acceleration>
if set.
<max_angular_acceleration>
: Sets the maximum angular acceleration. Overrides <max_acceleration>
if set.
<min_linear_jerk>
: Sets the minimum linear jerk. Overrides <min_jerk>
if set.
<max_linear_jerk>
: Sets the maximum linear jerk. Overrides <max_jerk>
if set.
<min_angular_jerk>
: Sets the minimum angular jerk. Overrides <min_jerk>
if set.
<max_angular_jerk>
: Sets the maximum angular jerk. Overrides <max_jerk>
if set.
Constructor & Destructor Documentation
◆ DiffDrive()
DiffDrive | ( | ) |
Constructor.
◆ ~DiffDrive()
|
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()
|
overridevirtual |
Implements ISystemPreUpdate.
The documentation for this class was generated from the following file: