Open
Description
Hello community!
I have created a controller that would concatenate the output of the JTC to the DDC.
Take a look at the link.
https://github.com/moveito/mom_diff_drive_controller/tree/main
MOM is an acronym for MObile_Manipulator.
The purpose of creating this is to control a robot that is driven differentially by Moveit2.
What I did was to DDC.
- added on_export_state_interfaces()
- added odom values to state_interfaces_values_.
- changed the calculation method of linear_command and angular_command values
I checked the changes with my own robot.
Maybe it is working.
https://x.com/move_ito/status/1905974761924305273
If possible, it would be great if this change could be reflected in ros2_controllers.
I'm new to this kind of OSS activity, so I'd like to know.
- Is it already implemented in other ways to begin with?
- which is the best direction to reflect this change?
2-1. reflect this change in DDC
2-2. create another controller (e.g. Planar Base Controller (PBC)) and make it chain Joint Trajectory Controller (JTC) → PBC → Diff Drive Controller (DDC)
Thank you in advance.