four_wheel_steering controller #709
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(cherry picked from commit 3829d33) Co-authored-by: Denis Štogl <[email protected]>
(cherry picked from commit f6c4769) Co-authored-by: Bence Magyar <[email protected]>
(cherry picked from commit acaf918) Co-authored-by: Jakub Delicat <[email protected]>
This reverts commit 63c08f0.
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This pull request is in conflict. Could you fix it @Fixit-Davide? |
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A porting of the 4 wheel steering controller using the steering controller library (referring to #526 ).
I've imported the logic of the ROS1 controller and maintained the structure of the steering_controller_library by adding a simple flag if the user wants to use the 4ws controller.
In the configuration file the user can write the names of the driving joints (wheels) and the steering joints. (Similar to the intended implementation of #692 and #648).
It is still a work in project and the test files are missing.