This repository contains our implementation of a
ros-controller
for the omniwheel robot Bumpybot. It takes as inputs a twist in the form of the
conventional cmd_vel and computes the torques at each wheel to achieve the
desired motion. Currently, this approach
uses only kinematics of the robot and a simple proportional controller.
This also includes an RViz plugin to do simple online tuning of the controller.
If running as a stand-alone package, clone into your catkin workspace source directory, e.g.,
~ /catkin_ws/src $ git clone https://github.com/carlosiglezb/trikey_base_controller.git
and change the config/base_controller.yaml according to your robot's parameters and link names.
CMake/FindEigen3 hints at the eigen3 location already but may not work on your installation. If it doesn't work check the readme of Trikey Base Controller for instructions.