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I need a holonomic diff_drive_controller with 3 encoders (optionally different wheels from the drive)

I need a drive controller for holonomic / non-holonomic robots with support for 2 or 3 encoders for odometry that can be in a different position from the drive. Clearly the diff_drive_controller only supports non-holonomic wheeled robots with 2 encoders that have to be the same as the drive wheels.

Does anyone know of something like this that already exists in ROS, or should I create my own? Any tips for creating my own?

Take a look at the Open Base, I think it can help.

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thank you that looks great!

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