Re: [Playerstage-users] A driver for skid-steering wheel robots

 Re: [Playerstage-users] A driver for skid-steering wheel robots From: pt523 - 2010-03-02 14:40:05 ```Hello, thank you very much for both your advice. To explain you guys in more detail, actually I want to have a driver which I can directly command velocity of each robot's wheel and the robot will move corresponding to the command I send. For example, in case of a 4 wheel skid-steering robot, if I set velocity of each wheel likes this - Front left wheel to forward 10 cm/s - Front right wheel to backward 5 cm/s - Rear left wheel to 0 cm/s - Rear right wheel to forward 8 cm/s It should make the robot (probably) turn slightly left. Anyway, in order to know what are going to happen, I think I need to know kinematic of 4 wheel-skid-steering robot. Then code the kinematic equations to the driver in order to map the velocity command of each wheel to the position of the robot. Is that right? To Fabian, I think I quite understand what you mean but it seems like that's an opposite end of what I want. Because I don't want to map heading/velocity to per-wheel control but I want to map per-wheel control to heading/velocity of robots. Best regards, Pitiwut faichele wrote: > > Hello! > > I used Stage to simulate a robot with an omnidirectional drive (also each > wheel > powered independently); for controlling it via the position2d interface, I > had > to calculate the individual wheel velocities within a driver implementing > the > position2d interface to achieve the desired heading and velocity. Afaik, > if you > want to stick with the position2d interface, you'll have to do the mapping > from > heading/velocity to per-wheel control within the driver. > > With best regards, > Fabian Aichele > > Zitat von pt523 : > >> >> I'm planning to write a new driver to control 4 and 6 skid-steering wheel >> robots (robots which have each wheel connected to a motor, so each wheel >> can >> be controlled independently) >> >> As you've known with Stage (or even Gazebo) if you use "position2d" to >> control a robot, normally you only can set a velocity and steering angle >> of >> the robot. However with the new controller, (I'm hoping) it will allow us >> to >> set a velocity and steering angle of each robot's wheel . >> >> I'm just wondering is there anyone who are working on or used to creating >> this kind of driver and can share the driver and ideas with me? >> >> Best wish, >> Pitiwut >> -- >> View this message in context: >> > http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27714492.html >> Sent from the playerstage-users mailing list archive at Nabble.com. >> >> >> ------------------------------------------------------------------------------ >> Download Intel® Parallel Studio Eval >> Try the new software tools for yourself. Speed compiling, find bugs >> proactively, and fine-tune applications for parallel performance. >> See why Intel Parallel Studio got high marks during beta. >> http://p.sf.net/sfu/intel-sw-dev >> _______________________________________________ >> Playerstage-users mailing list >> Playerstage-users@... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > > -- > > > ---------------------------------------------------------------- > This message was sent using IMP, the Internet Messaging Program. > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27756530.html Sent from the playerstage-users mailing list archive at Nabble.com. ```

 [Playerstage-users] A driver for skid-steering wheel robots From: pt523 - 2010-02-25 18:06:07 ```I'm planning to write a new driver to control 4 and 6 skid-steering wheel robots (robots which have each wheel connected to a motor, so each wheel can be controlled independently) As you've known with Stage (or even Gazebo) if you use "position2d" to control a robot, normally you only can set a velocity and steering angle of the robot. However with the new controller, (I'm hoping) it will allow us to set a velocity and steering angle of each robot's wheel . I'm just wondering is there anyone who are working on or used to creating this kind of driver and can share the driver and ideas with me? Best wish, Pitiwut -- View this message in context: http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27714492.html Sent from the playerstage-users mailing list archive at Nabble.com. ```
 Re: [Playerstage-users] A driver for skid-steering wheel robots From: Geoff - 2010-03-02 10:09:52 ```If you want to control each wheel independently, you can use the position1d interface. Geoff On Tue, 02 Mar 2010 01:48 -0800, "pt523" wrote: > > I'm planning to write a new driver to control 4 and 6 skid-steering wheel > robots (robots which have each wheel connected to a motor, so each wheel > can > be controlled independently) > > As you've known with Stage (or even Gazebo) if you use "position2d" to > control a robot, normally you only can set a velocity and steering angle > of > the robot. However with the new controller, (I'm hoping) it will allow us > to > set a velocity and steering angle of each robot's wheel . > > I'm just wondering is there anyone who are working on or used to creating > this kind of driver and can share the driver and ideas with me? ```
 Re: [Playerstage-users] A driver for skid-steering wheel robots From: pt523 - 2010-03-02 14:31:56 ```To Geoff, from what I explained above, can I do that by position1d interface? Best regards, Pitiwut Geoff Biggs wrote: > > If you want to control each wheel independently, you can use the > position1d interface. > > Geoff > > On Tue, 02 Mar 2010 01:48 -0800, "pt523" wrote: >> >> I'm planning to write a new driver to control 4 and 6 skid-steering wheel >> robots (robots which have each wheel connected to a motor, so each wheel >> can >> be controlled independently) >> >> As you've known with Stage (or even Gazebo) if you use "position2d" to >> control a robot, normally you only can set a velocity and steering angle >> of >> the robot. However with the new controller, (I'm hoping) it will allow us >> to >> set a velocity and steering angle of each robot's wheel . >> >> I'm just wondering is there anyone who are working on or used to creating >> this kind of driver and can share the driver and ideas with me? > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27756536.html Sent from the playerstage-users mailing list archive at Nabble.com. ```
 Re: [Playerstage-users] A driver for skid-steering wheel robots From: - 2010-03-02 10:14:37 ```Hello! I used Stage to simulate a robot with an omnidirectional drive (also each wheel powered independently); for controlling it via the position2d interface, I had to calculate the individual wheel velocities within a driver implementing the position2d interface to achieve the desired heading and velocity. Afaik, if you want to stick with the position2d interface, you'll have to do the mapping from heading/velocity to per-wheel control within the driver. With best regards, Fabian Aichele Zitat von pt523 : > > I'm planning to write a new driver to control 4 and 6 skid-steering wheel > robots (robots which have each wheel connected to a motor, so each wheel can > be controlled independently) > > As you've known with Stage (or even Gazebo) if you use "position2d" to > control a robot, normally you only can set a velocity and steering angle of > the robot. However with the new controller, (I'm hoping) it will allow us to > set a velocity and steering angle of each robot's wheel . > > I'm just wondering is there anyone who are working on or used to creating > this kind of driver and can share the driver and ideas with me? > > Best wish, > Pitiwut > -- > View this message in context: > http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27714492.html > Sent from the playerstage-users mailing list archive at Nabble.com. > > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > -- ---------------------------------------------------------------- This message was sent using IMP, the Internet Messaging Program. ```
 Re: [Playerstage-users] A driver for skid-steering wheel robots From: pt523 - 2010-03-02 14:40:05 ```Hello, thank you very much for both your advice. To explain you guys in more detail, actually I want to have a driver which I can directly command velocity of each robot's wheel and the robot will move corresponding to the command I send. For example, in case of a 4 wheel skid-steering robot, if I set velocity of each wheel likes this - Front left wheel to forward 10 cm/s - Front right wheel to backward 5 cm/s - Rear left wheel to 0 cm/s - Rear right wheel to forward 8 cm/s It should make the robot (probably) turn slightly left. Anyway, in order to know what are going to happen, I think I need to know kinematic of 4 wheel-skid-steering robot. Then code the kinematic equations to the driver in order to map the velocity command of each wheel to the position of the robot. Is that right? To Fabian, I think I quite understand what you mean but it seems like that's an opposite end of what I want. Because I don't want to map heading/velocity to per-wheel control but I want to map per-wheel control to heading/velocity of robots. Best regards, Pitiwut faichele wrote: > > Hello! > > I used Stage to simulate a robot with an omnidirectional drive (also each > wheel > powered independently); for controlling it via the position2d interface, I > had > to calculate the individual wheel velocities within a driver implementing > the > position2d interface to achieve the desired heading and velocity. Afaik, > if you > want to stick with the position2d interface, you'll have to do the mapping > from > heading/velocity to per-wheel control within the driver. > > With best regards, > Fabian Aichele > > Zitat von pt523 : > >> >> I'm planning to write a new driver to control 4 and 6 skid-steering wheel >> robots (robots which have each wheel connected to a motor, so each wheel >> can >> be controlled independently) >> >> As you've known with Stage (or even Gazebo) if you use "position2d" to >> control a robot, normally you only can set a velocity and steering angle >> of >> the robot. However with the new controller, (I'm hoping) it will allow us >> to >> set a velocity and steering angle of each robot's wheel . >> >> I'm just wondering is there anyone who are working on or used to creating >> this kind of driver and can share the driver and ideas with me? >> >> Best wish, >> Pitiwut >> -- >> View this message in context: >> > http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27714492.html >> Sent from the playerstage-users mailing list archive at Nabble.com. >> >> >> ------------------------------------------------------------------------------ >> Download Intel® Parallel Studio Eval >> Try the new software tools for yourself. Speed compiling, find bugs >> proactively, and fine-tune applications for parallel performance. >> See why Intel Parallel Studio got high marks during beta. >> http://p.sf.net/sfu/intel-sw-dev >> _______________________________________________ >> Playerstage-users mailing list >> Playerstage-users@... >> https://lists.sourceforge.net/lists/listinfo/playerstage-users >> > > > -- > > > ---------------------------------------------------------------- > This message was sent using IMP, the Internet Messaging Program. > > ------------------------------------------------------------------------------ > Download Intel® Parallel Studio Eval > Try the new software tools for yourself. Speed compiling, find bugs > proactively, and fine-tune applications for parallel performance. > See why Intel Parallel Studio got high marks during beta. > http://p.sf.net/sfu/intel-sw-dev > _______________________________________________ > Playerstage-users mailing list > Playerstage-users@... > https://lists.sourceforge.net/lists/listinfo/playerstage-users > > -- View this message in context: http://old.nabble.com/A-driver-for-skid-steering-wheel-robots-tp27714492p27756530.html Sent from the playerstage-users mailing list archive at Nabble.com. ```