Gazebo Gazebo

API Reference

6.16.0
MecanumDrive Class Reference

Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels. More...

#include <MecanumDrive.hh>

Public Member Functions

 MecanumDrive ()
 Constructor. More...
 
 ~MecanumDrive () 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 ignition::gazebo::UpdateInfo &_info, ignition::gazebo::EntityComponentManager &_ecm) override
 
- Public Member Functions inherited from System
 System ()=default
 Constructor. More...
 
virtual ~System ()=default
 Destructor. More...
 

Detailed Description

Mecanum drive controller which can be attached to a model with any number of front/back left/right wheels.

System Parameters

<front_left_joint>: Name of a joint that controls a front left wheel. This element can appear multiple times, and must appear at least once.

<front_right_joint>: Name of a joint that controls a front right wheel. This element can appear multiple times, and must appear at least once.

<back_left_joint>: Name of a joint that controls a back left wheel. This element can appear multiple times, and must appear at least once.

<back_right_joint>: Name of a joint that controls a back right wheel. This element can appear multiple times, and must appear at least once.

<wheelbase>: Longitudinal distance between front and back 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_separation>: Lateral distance between left and right 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 if 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 trasnform 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}.

Constructor & Destructor Documentation

◆ MecanumDrive()

Constructor.

◆ ~MecanumDrive()

~MecanumDrive ( )
overridedefault

Destructor.

Member Function Documentation

◆ Configure()

void Configure ( const Entity _entity,
const std::shared_ptr< const sdf::Element > &  _sdf,
EntityComponentManager _ecm,
EventManager _eventMgr 
)
overridevirtual

Configure the system.

Parameters
[in]_entityThe entity this plugin is attached to.
[in]_sdfThe SDF Element associated with this system plugin.
[in]_ecmThe EntityComponentManager of the given simulation instance.
[in]_eventMgrThe EventManager of the given simulation instance.

Implements ISystemConfigure.

◆ PostUpdate()

void PostUpdate ( const UpdateInfo _info,
const EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPostUpdate.

◆ PreUpdate()

void PreUpdate ( const ignition::gazebo::UpdateInfo _info,
ignition::gazebo::EntityComponentManager _ecm 
)
overridevirtual

Implements ISystemPreUpdate.


The documentation for this class was generated from the following file: