README.md

Package: rigid2d

Author: Maurice Rahme

Package Summary

This package is an implementation of 2D Lie Group Operations and Differential Drive Kinematics based on Modern Robotics by Kevin Lynch. Visit my website for details

rigid2d.hpp/cpp

2D Lie Group operations Library. Includes Transform, Vector, and Twist operations. Run rigid2d_node.cpp to test it for yourself.

diff_drive.hpp/cpp

Differential Drive Kinematics Library. Run odometer_node.cpp for odometry estimates based on wheel angles. Run fake_diff_encoders_node.cpp to publish fake wheel angles to /joint_states, read by odometer_node.cpp.

waypoints.hpp/cpp

Waypoint navigation Library with Proportional Bang-Bang control.