{"action":"created","issue":{"url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/55","repository_url":"https://api.github.com/repos/ros-controls/ros_controllers","labels_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/55/labels{/name}","comments_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/55/comments","events_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/55/events","html_url":"https://github.com/ros-controls/ros_controllers/issues/55","id":20445135,"number":55,"title":"We need mobile base controllers","user":{"login":"adolfo-rt","id":1128028,"avatar_url":"https://avatars3.githubusercontent.com/u/1128028?v=3","gravatar_id":"","url":"https://api.github.com/users/adolfo-rt","html_url":"https://github.com/adolfo-rt","followers_url":"https://api.github.com/users/adolfo-rt/followers","following_url":"https://api.github.com/users/adolfo-rt/following{/other_user}","gists_url":"https://api.github.com/users/adolfo-rt/gists{/gist_id}","starred_url":"https://api.github.com/users/adolfo-rt/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/adolfo-rt/subscriptions","organizations_url":"https://api.github.com/users/adolfo-rt/orgs","repos_url":"https://api.github.com/users/adolfo-rt/repos","events_url":"https://api.github.com/users/adolfo-rt/events{/privacy}","received_events_url":"https://api.github.com/users/adolfo-rt/received_events","type":"User","site_admin":false},"labels":[{"id":19105352,"url":"https://api.github.com/repos/ros-controls/ros_controllers/labels/question","name":"question","color":"cc317c","default":true}],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":16,"created_at":"2013-10-03T09:43:45Z","updated_at":"2017-04-12T13:21:31Z","closed_at":null,"body":"All,\n\nTo make the ros_controll(ers) project appealing to a larger user base, we need to offer functionality needed by that user base, and controllers are a big part of that. Currently, the list of available general-purpose controllers is still quite limited, and we have a big zero on mobile base / vehicle controllers.\n\nI've convinced a colleague to make a **diff-drive** controller that should land sometime soon, but I wonder about the **interest** and **generality** of other implementations. \n### Interest\n\nDoes it make sense to have mobile base controllers inside the (possibly high-frequency) `controller_manager` loop, or is it enough to control individual wheels with low-level single-joint controllers?. Many navigation scenarios have relatively slow dynamics, but I can imagine many scenarios (self-driving cars!) having requirements for faster dynamics.\n\nFurther, having a single ros_control plugin that takes in higher level navigation commands results in simpler deployments than single_joint controllers + an additional node for translating navigation commands to joint commands.\n### Generality\n\nImplementations like the **diff-drive** generalize well to multiple robot platforms. Does the same apply to an **Ackermann-type** controller, are they easily configurable (@jim-rothrock, @jack-oquin)?.  How about **omnidirectional** bases?, these seem more complex to generalize, is it the case?. Are there other controller types that would be of general interest?.\n"},"comment":{"url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/comments/293573363","html_url":"https://github.com/ros-controls/ros_controllers/issues/55#issuecomment-293573363","issue_url":"https://api.github.com/repos/ros-controls/ros_controllers/issues/55","id":293573363,"user":{"login":"vincentrou","id":921593,"avatar_url":"https://avatars1.githubusercontent.com/u/921593?v=3","gravatar_id":"","url":"https://api.github.com/users/vincentrou","html_url":"https://github.com/vincentrou","followers_url":"https://api.github.com/users/vincentrou/followers","following_url":"https://api.github.com/users/vincentrou/following{/other_user}","gists_url":"https://api.github.com/users/vincentrou/gists{/gist_id}","starred_url":"https://api.github.com/users/vincentrou/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/vincentrou/subscriptions","organizations_url":"https://api.github.com/users/vincentrou/orgs","repos_url":"https://api.github.com/users/vincentrou/repos","events_url":"https://api.github.com/users/vincentrou/events{/privacy}","received_events_url":"https://api.github.com/users/vincentrou/received_events","type":"User","site_admin":false},"created_at":"2017-04-12T13:21:31Z","updated_at":"2017-04-12T13:21:31Z","body":"We are interested to integrate our [four_wheel_drive_controller](https://github.com/Romea/romea_controllers/tree/master/four_wheel_steering_controller) in ros-controls.\r\nMaybe it is better to created a new repository in ros-controls, named \"vehicle_controllers\" for example where we can put diff_drive_controllers, mecanum_drive_controller, four_wheel_drive_controller...\r\nWhat do you think ?"}}
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