Velocity Parameterization
This example talks about the velocity parameterization functionality, that has been implemented in the controller.
The controller takes the following parameters:
- Radius of the wheels
- Diagonal distance between the wheels
- A velocity multiplying factor
- Maximum linear velocity
- Maximum angular velocity
So, it can be generalised for any omniwheeled robot. The controller takes in the velocity from
/cmd_vel topic and converts it into individual wheel velocities. The wheel velocities are
multiplied by the constant specified in yaml file.
Above figure shows the rqt_graph of the controller_node.