ros_controllers
Generic robotic controllers to accompany ros_control (by ros-controls)
ros_diffdrive_robot
Arduino code to control a differential drive robot via ROS Twist messages using a NodeMcu or ESP8266 (by Reinbert)
ros_controllers | ros_diffdrive_robot | |
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4 | 1 | |
539 | 36 | |
2.8% | - | |
4.5 | 2.6 | |
2 months ago | 6 months ago | |
C++ | C++ | |
BSD 3-clause "New" or "Revised" License | MIT License |
The number of mentions indicates the total number of mentions that we've tracked plus the number of user suggested alternatives.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
ros_controllers
Posts with mentions or reviews of ros_controllers.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2021-08-20.
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How to control a 4 wheeled robot with ROS?
Either use this node, or take a good look at it and make a variant if it needs changes. https://github.com/ros-controls/ros_controllers/blob/noetic-devel/diff_drive_controller/src/diff_drive_controller.cpp
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I don't think my calculations are accurate. Care to chime in?
Here's the code and the equations are found on line 491 and 492.
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RC Car / Chassis - Location Tracking via wheels
You can check this repo for inspiration https://github.com/ros-controls/ros_controllers/tree/noetic-devel/ackermann_steering_controller as it implements odometry for robots with Ackermann steering. But it doesn't translate angular velocity into steering angle (I'm working on it in my own project).
- Tips on where to start with modelling and control of a manipulator?
ros_diffdrive_robot
Posts with mentions or reviews of ros_diffdrive_robot.
We have used some of these posts to build our list of alternatives
and similar projects. The last one was on 2021-08-20.
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How to control a 4 wheeled robot with ROS?
ESP32 can't run ROS, However, it can take simple commands. You can use a differential drive plugin to control your agent. You calculate everything you need on the server side then send the control signals to your ESP32. You can look into this and search for similar notions. This should be enough for what you are controlling. Then you can look into local positioning using your camera. As the robot moves only in 2D space you can estimate its position based on the robot's position in the camera's Feild of view. Like if it's in the bottom left corner then it's in the left corner of the room etc. This estimated position(x, y) and the angle with the x-axis feed this into the local position message for the robot. This may not be accurate but this would be good enough for this case.
What are some alternatives?
When comparing ros_controllers and ros_diffdrive_robot you can also consider the following projects:
rrr-arm - ROS package for 3 DOF Revolute-Revolute-Revolute robot arm built from scratch using xacro model. The developed robot is visualized in Rviz, and simulated in Gazebo simulator. MoveIt config package for the robot is developed and interfaced with Gazebo (find the link at the end of the page).