ros-controls / ros-controls/ros2_controllers
All Wheel Drive for Ackermann
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- Dominant language
- C++
- Stars
- 834
- Forks
- 530
- Avg merge
- 18h 3m
- Merged PRs (30d)
- 19
Description
It is my understanding that currently the Ackermann controller provides traction control to the rear wheels, while the front ones are passive (just steered). For my application, I have an all-wheel-drive ackermann vehicle.
Would a patch providing all-wheel-drive option to Ackermann be welcomed here?
I would later also like to develop a 4-steerable-wheel version of the controller ("double ackermann")... would also this second one be of interest then? Most of the code may be reused.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by locating the Ackermann controller and reading how it currently handles rear-wheel traction control and passive front wheels. The issue needs a maintainer decision on the all-wheel-drive option and the proposed four-wheel-steering extension before implementation scope and completion criteria can be defined.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- cpp
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 5/5
- Estimated time
- Over a week
- Activity status
- Stale
- Clarity
- Needs clarification
- Newbie friendliness
- 25/100