Car Control

This package contains a collection of nodes that perform local control driving a differential drive robot to a desired state.

The dd_control_node controller is based on the intuition from https://cs.gmu.edu/~kosecka/cs485/lec04-control.pdf, while the power_diagram_node is based on the paper: https://repository.upenn.edu/ese_papers/724/.

C++ and ROS Usage

Example Launching the Controller Nodes:

<!--Launch a DD Controller Node -->
<group ns="$(arg ns)">
  <node name="dd_control_node" pkg="car_control" type="dd_control_node" output="screen"
  args="">
        <remap from="~odom" to="ground_truth/odom"/>
        <remap from="~commands" to="mobile_base/commands/velocity"/>
        <rosparam file="$(find dd_control)/config/dd_gains.yaml"/>
  </node>
</group>

<!--Launch a Power Diagram Node -->
<group ns="$(arg ns)">
  <node name="dd_control_node" pkg="car_control" type="power_diagram_node" output="screen"
  args="">
        <remap from="~odom" to="ground_truth/odom"/>
        <remap from="~commands" to="mobile_base/commands/velocity"/>
        <rosparam file="$(find dd_control)/config/dd_gains.yaml"/>
  </node>
</group>

Python Usage

cd script
python3 dd_controller.py