I’m happy to announce that ros2_controllers has a new family member: the Tricycle Controller.
It is a controller aimed for robots with a tricycle base configuration (two wheels in the back and 1 in the front). The traction and steering is done by the front wheel.
- Convert Twist to AckermannDrive
- Publish odometry
- Supports rate limiting (speed, acceleration, etc…) for traction and steering
A demo is on the verge of being merged.
Looking forward for community feedback!
Thank you to Pixel Robotics for sponsoring this work.