steering_position2d
[Controller]

Detailed Description

General steering controller for any number of wheels.

This is a General steering controller for any number of wheels

  <controller:steering_position2d name="a car">
    <wheel>
       <joint>front-left-joint-name</joint>
       <type>steer</type>
    </wheel>
    <wheel>
       <joint>front-right-joint-name</joint>
       <type>steer</type>
    </wheel>
    <wheel>
       <joint>rear-left-joint-name</joint>
       <type>drive</type>
    </wheel>
    <wheel>
       <joint>rear-right-joint-name</joint>
       <type>drive</type>
    </wheel>

    <torque>1000</torque>
    <steerTorque>100</steerTorque>
    <steerPD></steerPD>
    <steerMaxAngle></steerMaxAngle>
    <interface:position name="iface-name"/>
  </controller:car_position2d>

The following parameters:

     <torque></torque>
    <steerTorque></steerTorque>
    <steerPD></steerPD>
    <steerMaxAngle></steerMaxAngle>

Can be defined outside any <wheel> tag to make them generic to all the wheels. Each wheel can overwrite them in an individual basis also.

Classes

class Steering_Position2d

Steering-like four wheels ackermann Position2D controller. More...

Last updated Aug 04 2007


Classes
class	Steering_Position2d
	Steering-like four wheels ackermann Position2D controller. More...

Gazebo

steering_position2d [Controller]

Detailed Description

Classes

steering_position2d
[Controller]