This python repository aims at providing useful functionalities to be used to compute the kinematics of a four wheel steering rover, which is subjected to steer lower and upper joint limits. Moreover, the package allows for multiple driving mode selection:
- Symmetric Ackermann Steering;
- Car-Like Ackermann Steering;
- In-Place rotation;
- Parallel Drive;
- Lateral Drive;
- Inner Ackermann;
- Outer Ackermann;
- General Ackermann.
The kinematics is computed through the ICR projection procedure.
In order to being able to use this package, it is required to be installed as a python package. To do so, run:
python3.8 -m venv ~/p38Venv
mkdir -p ~/repositories/python
cd ~/repositories/python
git clone https://github.com/matteocaruso1993/rover4ws-kinematics
cd rover4ws-kinematics
source ~/p38Venv/bin/activate
pip install -r requirements.txt
pip install -e .
deactivate
source ~/p38Venv/bin/activate
cd ~/repositories/python/rover4ws-kinematics
python rover4ws_kinematics/examples/test_carlike.py
source ~/p38Venv/bin/activate
python -m rover4ws_kinematics.apps
This package is used as the basis for the kinematics ROS package