Modifications to work with 4WD Omni Robot

[eddie50488]

I see that there is a variable in the kinematics.hpp file called OMNI_ROBOT_MAX_WHEELS which is equal to 4. Upon analyzing the code it looks like the kinematics equations are only for 3 wheel drive robots which suggests that this controller would not work out of the box with a 4WD robot, would I be correct in thinking this?

[mateusmenezes95]

Hello @eddie50488, you are right. I started developing the code to work with 4 wheels as well, but due to time constraints, the code as it stands today only works for the 3-wheel omnidirectional robots

[eddie50488]

Hi Mateus, thanks for your reply, that makes a lot of sense, I am trying to modify your controller to make it work with a 4WD robot I have built, as I'm now to ROS and C++ in general I have just implemented a very simple form of inverse kinematics. In addition I have removed aspects relating to calculation of odometry as I plan to use a LiDAR sensor for this. I have got my modification of your package to build however am a bit stuck as to how I can test the functionality of it with teleop_twist_keyboard. Do you know if I have to create a hardware interface before I can do so?

Any help is greatly appreciated, thanks!

Edward