Re: [ros-users] Announcing package differential_drive

Nice work Jon.
I'll check the code one of these days.
In my university our diff robots are so small and cheap they have
steppers rather than encoders

One thing I can think can expand your stack is a holonomic controller:
lin_spd=cos(robot_theta) *vx+sin(robot_theta)*vy;
ang_spd=-( 1/d )*sin(robot_theta) *vx+(1/d)*cos(robot_theta)*vy;

d being the distance from the actual drive center (the pivoting point of
the platform) along the longitudinal axis of the robot (the forward
movement axis).
Then going from (lin_spd, ang_spd) to (wheel_1, wheel_2) is trivial.

Relevant article:
Bilateral Teleoperation of a Formation of Nonholonomic Mobile Robots
Under Constant Time Delay
Oscar M. Palafox and Mark W. Spong
(can't attach here)


Best regards
--

*Eng. Claudio Carbone
Embedded Systems Design*

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--

*Eng. Claudio Carbone
Embedded Systems Design*

P.IVA: 11688471009
tel: +393809017424
email: Send email
<mailto:cla_carbone@tiscali.it>My linkedin profile
<http://it.linkedin.com/in/embeddedesign/en>

My Portfolio
My portfolio site <http://www.fusioncoredesign.it/>