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Driver Interface discussion

Present at discussion:

Meeting agenda

Discuss a common driver interface for Ackermann steering based robots. Develop a generic controller similar to teleop_twist_keyboard for Ackermann robots.

Question / concerns / comments

Enter your thoughts on the API and any questions / concerns you have here. Please sign your name. Anything you want to address in the API review should be marked down here before the start of the meeting.

Proposed message formats

ackermann_msgs/SimpleControl

# Average angle of the front wheels, in radians (left is positive). This angle is an approximation of the true turning angle of the car
float32 virtual_angle

# Speed of the center of the rear axle (reverse is negative)
float32 forward_speed

ackermann_msgs/ComplexControl

# Average angle of the front wheels, in radians (left is positive). This angle is an approximation of the true turning angle of the car
float32 virtual_angle

# Desired rate of change of the virtual angle
float32 angular_velocity

# Desired rate of change of angular_velocity. Humans can feel changes in while in a car
float32 angular_acceleration

# Speed of the center of the rear axle (reverse is negative)
float32 forward_speed

# Acceleration of the center of the rear axle
float32 forward_acceleration

# Jerk of the center of the rear axle
float32 forward_jerk

# Average angle of the front wheels in radians (left is positive). This angle is the true turning angle for bicycles and motorcycles. It is an approximation for a car, computed by taking the average of the angles of the 2 front wheels.
float32 steering_angle

# Desired rate of change of the steering angle in radians/second.
float32 steering_angle_velocity

# Speed of the center of the rear axle in meters/second (reverse is negative)
float32 speed

# Desired acceleration of the center of the rear axle in meters/second^2
float32 acceleration

# Desired jerk of the center of the rear axle in meters/second^3
float32 jerk

Conclusion



2018-06-23 12:15