Holonomic Controller
Holonomic Controller
Installation
To use this Node, you must enable omni.isaac.wheeled_robots
in the Extension Manager.
Inputs
Name |
Type |
Description |
Default |
---|---|---|---|
execIn |
|
The input execution |
|
wheelRadius |
|
an array of wheel radius |
|
wheelPositions |
|
position of the wheel with respect to chassis’ center of mass |
|
wheelOrientations |
|
orientation of the wheel with respect to chassis’ center of mass frame |
|
mecanumAngles |
|
angles of the mecanum wheels with respect to wheel’s rotation axis |
|
wheelAxis |
|
the rotation axis of the wheels |
|
upAxis |
|
the rotation axis of the vehicle |
|
velocityCommands |
|
velocity in x and y and rotation |
|
maxLinearSpeed |
|
maximum speed allowed for the vehicle |
|
maxAngularSpeed |
|
maximum angular rotation speed allowed for the vehicle |
|
maxWheelSpeed |
|
maximum rotation speed allowed for the wheel joints |
|
linearGain |
|
linear gain |
1 |
angularGain |
|
angular gain |
1 |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
jointPositionCommand |
|
position commands for the wheel joints |
|
jointVelocityCommand |
|
velocity commands for the wheels joints |
|
jointEffortCommand |
|
effort commands for the wheels joints |