Questions tagged [diff-drive-controller]

diff_drive_controller is a controller plugin for the ros2_control framework

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ROS2_Control question

Can anyone clarify the units of diff_drive_controller, Command interfaces in velocity are in rad/sec ? and state interfaces for encoders are rotations ? and velocity is again rad/sec ? Also is there a ...
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Is cmd_vel output from Ros2_control a good way to control motors in a diff-drive robot?

Ros2_Control allows controlling motors through low-level (fast) interfaces. But these can be tricky to set up. Does the cmd_vel topic from the controller originate from the same place in code? I mean, ...
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robot moving backwards when the 2d_Nav_goal set behind the robot

my 4wheel_bot is moving backwards when i set the goal behind the robot in rviz, but it reaches the goal tho. I did not notice this kinda behavior in any robot, normally it rotates and pursuit the goal ...
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ACADO Toolkit MPC based robot controller weird behaviour around obstacles

I have been strugling with this issue for a long time now, any help would be appreciated. So, I have a robot simulation running in Gazebo. I have implemented a robot controller that follows a direct ...
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Robot not moving to the goal - diff_drive_controller 4wheel bot

I am trying to implement the navigation and reaching the goal by the 4_wheel_bot, you can find the files in this github page. I tried the diff_drive_controller by ...
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How to handle local cost map when robot is carrying a shelf in ros2 navigation2?

There is no problem if the robot is not carrying a shelf when using navigation2 with a local cost map with size of (4m x 4m). But when robot is carrying a shelf (see the picture below), if I still use ...
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ROS2 controller needs motor encoder values

I am wanting to link to this encoder code with another ROS2 C++ program, in the ROS2_Controller group. I believe I can include the header file from this encoder code in compilation and use a public ...
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Configure diff_drive_controller in open loop on a real robot

I would like to use the diff_drive_controller package for my real robot. This robot doesn't have any wheel encoders so I configured the controller as open loop. ...
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ros2_control want to set parameter from cli, serial port

I've successfully re-written a HardwareInterface for my diff_drive robot. So I'm now able to communicate with my real robot with ros2_control. (https://github.com/PaddyCube/hoverboard-driver/tree/...
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My Robot is Having Trouble Sharp Turn and Narrow Corridor

https://youtu.be/-bgO7hgdRD4 https://www.youtube.com/watch?v=hppDQvYpovI Hi everyone, ı build a robot which is rectangular shape 42cmx23cm, ı get into the 40cm narrow corridors and robots can get into ...
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diff_drive_controller in ROS2 on Jackal platform causing jittered controls

I am currently battling with the ClearPath Jackal robot trying to upgrade it. I have struggled for weeks trying to understand why using a PS4 controller gives jittery values. Basically the jackal will ...
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ros2_control diff_drive_controller PID?

I followed ros2_control diff_drive_example https://github.com/ros-controls/ros2_control_demos/tree/master/example_2 to bring my ROS1 robot to ROS2. I notice there is a PID controller (pid.cpp and pid....
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diff_drive changes the wheel's parent link

So this is kind of a wierd issue. I have a two-wheeled robot with a caster and i'm using diff_drive to test it in gazebo with ros2-galactic. my tf tree is a little different where my base_link is not ...
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ros2_control Odometery Data Publication Frequency Discrepancy

I am using ros2_control framework to control the motor wheel of my robot and to publish odometry data. However, I have encountered an unusual issue where the odometry data is being published at only ...
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Differential Drive Controller 'enable_odom_tf: false' doesn't work

I have 2 wheels diff_drive robot that use diff_drive_controller from ros2_control,so this first work as diff_cont (diff_drive_controller name) publish transform from odom to base_link on /tf. Now I ...
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How to define PID in diff_drive_controller

I am trying to understand how diff_drive_controller works by following the documentation: http://wiki.ros.org/diff_drive_controller 1 - I don't understand why the PID parameters are not set ? 2 - If ...
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Problems with loading and configurating DiffDrive and JointStateBroadcaster controllers

Hi. Sorry for all mistakes, English is not my native language. So I'm launching my gazebo simulation with JointStateBroadcaster and DiffDrive controllers. Gazebo loads without notable errors but then ...
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Remapping diff drive controller to cmd_vel

Hi! I'm looking to use nav2 with my current diff drive controller setup. My controller is currently subscribed to the /diff_drive_controller/cmd_vel_unstamped topic, while it appears nav is publishing ...
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"what(): can't subtract times with different time sources [2 != 1]" error when spawning diff_drive_controller on ros2_control

I'm using ros2_control to control my robot. After exectue controller_manager, when I spawned "diff_drive_controller" I have this error. ...
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How to interpret position in JointStateInterface

The context is a robot with 2 drive wheels, using the ros_control diff_drive_controller. I would like to know if it is well ...
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diff_drive_controller ignores acceleration limits

Hello community, I have a real 2-wheeled robot and use diff_drive_controller. I'm able to drive around using teleop. It seems to work so far. But I'm curious about max_jerk and max_acceleration ...
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Understanding How Odometry Is Calculated In The Diff_Drive Controller

I apologize that this question has two parts. If it's better to post two questions, then please let me know. While reading through the source code of the diff_drive_controller.cpp, I am trying to ...
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wrong diff_drive_controller pose calculation?

Hallo, I am using diff_drive_controller in my project. I wrote the hw interface which calculates the distance based on the ticks coming from the left and right wheels. I am sending absolut ticks (...
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ros2_control - Created node by ControllerInterface gets nodename of controller_manager no matter what (diff_drive_controller)

Hi! I started to work with ros2_control and want to set it up with a diff_drive_controller. Therefore I wrote an Actuator that implements the handling of my motors. The issue I now have is that when ...
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Are there examples of robots using diff_drive_controller in ros2_control?

We are working on the development of a custom differential drive robot using ROS 2 Foxy. Until now, our development was in simulation only and we are now transferring our code to the actual physical ...
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what are imax and imin in pid

I was trying to use the pid controller of the control toolbox ros package in my hardware interface of diff drive controller. Here when i was studing this api i didn't got what imax and imin means and ...
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diff drive controller giving wrong odometry data (radius and separation multipliers)

I'm working on a 4WD skid steer robot which uses ros control and the diff drive controller. If I set my wheel radius multiplier to 1.0, the robot seems to go extremely slow (doesn't seem to be moving ...
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Diff_drive_controller not subscribing to /cmd_vel

Hi, my team is working on a differential drive robot and trying to decide if the diff_drive_controller is a good fit for our project. We have been borrowing and ...
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motor oscillates after diff_drive_controller configuration

Hello, I have configured the canopen_motor_node of my robot to use a DiffDriveController, but once I start publishing angular velocities in the /cmd_vel topic the movement is not smooth, i.e. the ...
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Is it possible to know diff_drive_controller frequency?

Hi all, My problem is the following: I am using TIAGoSimulation in Gazebo to perform some experiments with wheeled mobile robots. My goal is to have the robot performing autonomously a desired ...
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Which units does a diff_drive_controller output?

Hi, I am using Kinetic on Ubuntu 16.04 with a physical robot. I am writing the code that interfaces the diff_drive_controller to my physical robot's hardware. I understand that the data the ...
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What are the steps to use diff_drive_controller in a physical robot?

What steps need to be followed to use diff_drive_controller on a physical robot that is using differential drive (including all packages diff_drive_controller needs)...
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does diff_drive_controller require a hardware interface?

Development Environment: OS: Ubuntu 18.04 ROS version: Melodic Robot: 6 wheel rover (3 wheels each side) TREX Robot Controller: https://www.gotronic.fr/pj-1119.pdf No encoders, but a built in ...
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is it necessary to have URDF model for diff_drive_controller

Hello, I am building a differential drive robot and trying to exploit the power of ros_control by using the diff_drive_controller into my project I have found that I have to fulfill some hardware ...
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Help to run diff_drive_controller

I’m trying to launch the diff_drive_controller but I get this message when I run the .launch file. “Controller Spawner: Waiting for service controller_manager/load_controller” " Controller ...
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Gazebo crashes using skid_steer, but works fine with diff_drive

I have a skid steer robot which I'm trying to simulate in Gazebo. In my wheel macro, I have: ...
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Use of diff_drive_controller to simulate a differential drive in Gazebo

Did anybody manage to use diff_drive_controller in to simulate a differential drive in Gazebo**? Theoretically should work if the gazebo_ros_control (libgazebo_ros_control.so) plug in is used in ...
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Using diff_drive_controller for a robot with off-centre wheels

Hi. I'm attempting to use the diff_drive_controller package in ros_control for a robot which has wheels positioned off-centre (i.e. at the front of the robot). It then has a caster wheel at the back. ...
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Correct way to use diff_drive_controller with PID control?

Hi, I am just learning about ros_control and saw the diff_drive_controller plugin. I am wondering how I would correctly integrate some PID control in with this? Would I have to have the write() ...
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Diff_drive_controller - Question on RK function

Hello, In the diff_drive_controller plugin: https://github.com/ros-controls/ros_controllers/blob/kinetic-devel/diff_drive_controller/src/odometry.cpp#L140 What does the below line do? What is the 0.5 ...
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What is the unit of the commands from the diff_drive_controller?

Hi, I'm trying to get a differential drive robot running with ros_control and the diff_drive_controller. I have a working setup except for knowing exactly what the commands written to the command ...
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Is there an existing speed control node to connect the robot_localization state estimator with the diff_drive_controller?

I am using ROS Indigo on a differential drive robot for indoor use (no GPS). The path is pre-determined and the velocity along the path is to be controlled. I believe that move_base node would be ...
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What is the difference between the gazebo differential drive plugin and a differential drive controller spawned by controller_spawner?

What's the difference between a controller specified by in a tag, in an URDF file, and a controller spawned by a controller_manager spawner node of type "diff_drive_controller/...
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how to use diff_drive_controller

I have installed ros_control, ros_controllers, and diff_drive_controller under ROS indigo. however, I am having issues getting the diff_drive_controller node to rosrun. normally i can tab complete the ...
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