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.

	~MecanumDrive () 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

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> 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}.

Constructor & Destructor Documentation

◆ MecanumDrive()

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]	_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.