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[tiago]: add differential drive #174

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costashatz merged 1 commit into master from tiago_diff_drive

Mar 15, 2022

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costashatz commented Mar 15, 2022

This PR adds the possibility to Tiago to be controlled via the wheels. Here's a cool video:

output.mp4

Two important changes:

URDF to allow the movement of the wheels
Usage of bullet collision detector because FCL converts the cylinder shape to triangle mesh and this creates artifacts in the collision detection and movement


          [tiago]: add differential drive

30c3443

costashatz added this to the RobotDART 1.0.0 milestone

costashatz self-assigned this

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costashatz commented Mar 15, 2022

Important: this PR does not implement any differential drive controller (bad branch naming), but it gives the ability to do so.

costashatz merged commit f646d44 into master

costashatz deleted the tiago_diff_drive branch

March 15, 2022 12:40

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