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.

	~DiffDrive () override=default
	Destructor.

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

void	PostUpdate (const UpdateInfo &_info, const EntityComponentManager &_ecm) override

void	PreUpdate (const UpdateInfo &_info, EntityComponentManager &_ecm) override

Public Member Functions inherited from System
	System ()=default
	Constructor.

virtual	~System ()=default
	Destructor.

Additional Inherited Members
Public Types inherited from System
using	PriorityType = int32_t
	Signed integer type used for specifying priority of the execution order of PreUpdate and Update phases.

Static Public Attributes inherited from System
static constexpr PriorityType	kDefaultPriority = {0}
	Default priority value for execution order of the PreUpdate and Update phases.

static constexpr std::string_view	kPriorityElementName
	Name of the XML element from which the priority value will be parsed.

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> gz.msgs.Pose_V message and the <odom_topic> gz.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> gz.msgs.Pose_V message and the <odom_topic> gz.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()

~DiffDrive ( )

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]	_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.