Stanley Control PID
Drive to Target Steering
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 |
|
currentPosition |
|
Current position of the robot (recommended to use Get Prim Local to World Transform node) |
|
currentOrientation |
|
Current rotation of the robot as a quaternion (recommended to use Get Prim Local to World Transform node) |
|
currentSpeed |
|
Current linear velocity of the robot |
|
maxVelocity |
|
Maximum linear velocity of the robot |
1.5 |
reachedGoal |
|
Position and orientation thresholds at target |
[False, False] |
pathArrays |
|
The path v, x, y, and yaw arrays |
|
target |
|
Target position and orientation |
[0, 0, 0] |
targetChanged |
|
Target position/orientation has changed |
False |
wheelBase |
|
Distance between the centers of the front and rear wheels |
0.4132 |
thresholds |
|
Position and orientation thresholds at target |
[0.1, 0.1] |
drawPath |
|
Draw the provided path curve onto the stage |
False |
step |
|
Step |
0.16666666667 |
Outputs
Name |
Type |
Description |
Default |
---|---|---|---|
execOut |
|
The output execution |
|
linearVelocity |
|
Current forward speed for robot drive |
|
angularVelocity |
|
Current angular speed for robot drive |