cmd_vel(geometry_msgs::Twist) to ackermann_msgs

Question

Hi all.

I'd like to translate /cmd_vel(geometry_msgs::Twist) to ackermann_msgs::ackermannDrive.

Linear speed is same in two msgs.(linear.x = speed)

How can I covert angular velocity to steering angle?(angular.z --> steering_angle)

Are there nodes for it? I couldn't find to translate from angular velocity to steering angle.

Could you please let me know equation and necessary parameters?

Thanks.

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Originally posted by Park on ROS Answers with karma: 25 on 2013-10-23

Post score: 1

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Original comments

Comment by alex920a on 2014-04-28:
any news? I need the answer too

Comment by macrot51 on 2019-05-14:
Hello Park, I try doing a similar thing. Would be glad if you could help me out. Cheers Marco

Answer 1

Not sure if you still need to know, but ...

http://planning.cs.uiuc.edu/node658.html

Theta_dot would be angular.z and phi is steering angle

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Originally posted by baronep with karma: 106 on 2015-09-04

This answer was ACCEPTED on the original site

Post score: 1