omni_chassis_controller¶

The omni_chassis_controller package is a ros2_control compatible (chainable) controller responsible for controlling omnidirectional wheel (omni wheel and mecanum wheel) chassis.

Controller interfaces¶

Reference interfaces (in chained mode)¶

linear/x/velocity
linear/y/velocity
angular/z/velocity

Command interfaces¶

<omni_wheel_joints[i]>/velocity

State interfaces¶

No state interface for wheels is required as inverse kinematics is completely open-loop.

If the controller is not in CHASSIS mode, <yaw_gimbal_joint>/position is required.

Subscribers¶

<controller_name>/reference [geometry_msgs/Twist] (if not in chained mode)

Publishers¶

<controller_name>/controller_state

Parameters¶

omni_wheel_joints (string_array)

Specifies the name of omni wheel joints.

omni_wheel_forward_angles (double_array)

Specifies the forward angle of each omni wheel (in degrees). [1]

omni_wheel_center_x (double_array)

Specifies the x-coordinate of the center of each omni wheel. [1]

omni_wheel_center_y (double_array)

Specifies the y-coordinate of the center of each omni wheel. [1]

omni_wheel_sliding_angle (double_array)

Specifies the sliding angle of each omni wheel (in degrees). [1]

omni_wheel_radius (double)

Specifies the radius of each omni wheel.

yaw_gimbal_joint (string)

Specifies the name of yaw gimbal joint.

control_mode (string)

Specifies the control mode of the controller. Available options are CHASSIS, GIMBAL and CHASSIS_FOLLOW_GIMBAL.

CHASSIS: The reference twist is in the chassis frame.
GIMBAL: The reference twist is in the gimbal frame.
CHASSIS_FOLLOW_GIMBAL: On top of GIMBAL mode, the chassis will attempt to follow the gimbal.

follow_pid_target (double)

Specifies the target of chassis follow PID controller.

reference_timeout (double)

Specifies the timeout of reference.