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Add Mecanum vehicle example #451
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Looks like this might be blocked on the mecanum controller getting released. |
@bmagyar just released it ;) |
I am Santa, reading your wishlists on github |
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Just a minor comment, otherwise lgtm when the ci is green. I just merged the PRs in ros_distro
https://github.com/Mergifyio backport jazzy |
🟠 Waiting for conditions to match
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Co-authored-by: Alejandro Hernández Cordero <[email protected]>
@Pratham-Pandey can you help us to setup |
From what I understood, |
Thanks for the explanation @Pratham-Pandey! For some reason I half'd the value to the wheels in the X and Y thinking I had that as the total wheel base. This is corrected now and reports odom that matches the pose of the vehicle in Gazebo. |
https://github.com/Mergifyio backport jazzy |
✅ Backports have been created
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Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 18bdde1)
Co-authored-by: Alejandro Hernández Cordero <[email protected]> (cherry picked from commit 18bdde1) Co-authored-by: Marq Rasmussen <[email protected]>
As the title says this adds a new example showing how to use the new
MecanumDriveController
in ros2_controllers 🏆.The odometry of the vehicle is still a little off when rotating because I don't fully understand what sum_of_robot_center_projection_on_X_Y_axis parameter would equate to for this vehicle.