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ackermann_steering_controller: wheel_radius #574

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iliabaranov opened this issue Oct 6, 2021 · 2 comments · May be fixed by #603
Open

ackermann_steering_controller: wheel_radius #574

iliabaranov opened this issue Oct 6, 2021 · 2 comments · May be fixed by #603

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@iliabaranov
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iliabaranov commented Oct 6, 2021 •
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Hello all,

The documentation http://wiki.ros.org/ackermann_steering_controller states:

wheel_radius (double)
Radius of the wheels. It is expected they all have the same size. The ackermann_steering_controller will attempt to read the value from the URDF if this parameter is not specified.

Any particular reason for this? Tractors (for example) tend to have much smaller steering wheels. But even regular cars can have different wheel sizes.
Perhaps this is something I could extend/add to?

Best wishes,
Ilia B.
@bmagyar
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bmagyar commented Oct 7, 2021

happy to incorporate this change, there's no strong reason for even-sized wheels

@iliabaranov
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First attempt here, I welcome feedback :)
#575

@willcbaker willcbaker linked a pull request Jun 28, 2022 that will close this issue
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Allow different sized wheels for ackermann controller willcbaker/ros_controllers
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@bmagyar @iliabaranov