Skip to content

Add omni_wheel_drive_controller #1535

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
christophfroehlich merged 55 commits into from
Jul 26, 2025
Merged

Add omni_wheel_drive_controller #1535

christophfroehlich merged 55 commits into from
Jul 26, 2025

Conversation

@Amronos
Copy link
Contributor

@Amronos Amronos commented Feb 12, 2025

This is a controller for mobile robots with omnidirectional drive. It supports using 3 or more omni wheels spaced at an equal angle from each other in a circular formation.

I have added many tests similar to other controllers and updated the docs.
Please review this controller and tell me if you have any doubts regarding its working.

I will be updating mobile_robot_kinematics.rst for the kinematics of this controller and for that wanted to ask what software has been used to make the diagrams in that doc. 😄

@christophfroehlich

This comment was marked as outdated.

Sign in to view
@Amronos

This comment was marked as outdated.

Sign in to view
@christophfroehlich

This comment was marked as outdated.

Sign in to view
@Amronos
Copy link
Contributor Author

Amronos commented Feb 12, 2025 •
edited
Loading

82b6d87 should fix some of the failures, the other ones I am not too sure on how to fix ff32b2d should fix the others.

@Amronos

This comment was marked as outdated.

Sign in to view
@Amronos

This comment was marked as outdated.

Sign in to view
christophfroehlich
christophfroehlich requested changes Feb 14, 2025
View reviewed changes
Copy link
Member

@christophfroehlich christophfroehlich left a comment •
edited
Loading

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Thanks a lot for your contribution.

Why you named your controller multi_omni_wheel_drive_controller? why not just omni_wheel_drive_controller, or omni_drive_controller like our friends at PAL do call it?

The first review round, where I only had a look at the docs and the description. I just added some stylistic comments as well as changes to use standard nomenclature (like state interfaces instead of feedback). Just in case you don't know, you can commit them all at once from the "Files Changed" tab here.

Amronos and others added 2 commits February 15, 2025 09:37
@Amronos @christophfroehlich
Apply suggestions from code review
363ebe4 
Co-authored-by: Christoph Fröhlich <[email protected]>
@Amronos @christophfroehlich
Apply suggestions from code review
3b574bc 
Co-authored-by: Christoph Fröhlich <[email protected]>
@Amronos
Copy link
Contributor Author

Amronos commented Feb 15, 2025

Why you named your controller multi_omni_wheel_drive_controller? why not just omni_wheel_drive_controller, or omni_drive_controller like our friends at PAL do call it?

I didn't name it omni_drive_controller because I didn't want someone to get confused that it is based on mecanum wheels. I named it multi_omni_wheel_drive_controller instead of omni_wheel_drive_controller because I wanted to emphasize the fact that it can work with as many omni wheels as one would like, but now that I think about it omni_wheel_drive_controller would have also been nice.

@Amronos
Copy link
Contributor Author

Amronos commented Apr 25, 2025

@saikishor I have added the tests requested with 86b351e

christophfroehlich
christophfroehlich requested changes Jul 25, 2025
View reviewed changes
Copy link
Member

@christophfroehlich christophfroehlich left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Overall, looks great, almost ready to be merged.
I just ask for renaming it to omni_wheel_drive_controller so we are consistent with meancum_drive_controller. Thanks!

@Amronos Amronos changed the title Add multi_omni_wheel_drive_controller Add omni_wheel_drive_controller Jul 26, 2025
@saikishor saikishor added the backport-jazzy Triggers PR backport to ROS 2 jazzy. label Jul 26, 2025
saikishor
saikishor previously approved these changes Jul 26, 2025
View reviewed changes
Copy link
Member

@saikishor saikishor left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Looks very good. Thanks for updating the tests after the last review.

I just found 2 nitpicks, I left it for you just in case.

@Amronos @saikishor
Apply suggestion from @saikishor
76bb670 
Co-authored-by: Sai Kishor Kothakota <[email protected]>
@Amronos Amronos requested a review from saikishor July 26, 2025 08:18
christophfroehlich
christophfroehlich approved these changes Jul 26, 2025
View reviewed changes
Copy link
Member

@christophfroehlich christophfroehlich left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Thanks for the immediate fixes!

@christophfroehlich christophfroehlich merged commit b21a7e1 into ros-controls:master Jul 26, 2025
22 of 28 checks passed
mergify bot pushed a commit that referenced this pull request Jul 26, 2025
@Amronos @christophfroehlich
@saikishor @mergify
Add omni_wheel_drive_controller (#1535)
cc61b56 
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
(cherry picked from commit b21a7e1)
@mergify mergify bot mentioned this pull request Jul 26, 2025
Merged
@Amronos Amronos deleted the add-multi_omni_wheel_drive_controller branch July 26, 2025 09:04
christophfroehlich added a commit that referenced this pull request Jul 26, 2025
@mergify @Amronos
@christophfroehlich @saikishor
Add omni_wheel_drive_controller (backport #1535) (#1836)
98c719c 
Co-authored-by: Aarav Gupta <[email protected]>
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
fwhalbert pushed a commit to fwhalbert/ros2_controllers that referenced this pull request Aug 3, 2025
@Amronos @christophfroehlich
@saikishor @vibealbert
Add omni_wheel_drive_controller (ros-controls#1535)
9f0a677 
Co-authored-by: Christoph Fröhlich <[email protected]>
Co-authored-by: Sai Kishor Kothakota <[email protected]>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

@christophfroehlich christophfroehlich christophfroehlich approved these changes

@saikishor saikishor saikishor approved these changes

@anfemosa anfemosa Awaiting requested review from anfemosa

@aprotyas aprotyas Awaiting requested review from aprotyas

@destogl destogl Awaiting requested review from destogl

@harderthan harderthan Awaiting requested review from harderthan

@Maverobot Maverobot Awaiting requested review from Maverobot

@mcbed mcbed Awaiting requested review from mcbed

Assignees

No one assigned

Labels

backport-jazzy Triggers PR backport to ROS 2 jazzy.

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

[ROS2_controller] Add community controllers in "Controllers for Mobile Robots" list on ROS2_control doc

3 participants

@Amronos @christophfroehlich @saikishor