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Ros2 control - #123
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Ros2 control#123
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josephduchesne
commented
Sep 28, 2026
josephduchesne
commented
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- Added additional plugins to support more detailed dynamics modeling and a variety of additional drivetrain configurations:
- SteeringMotor: yaw based position or velocity controlled actuator attached to a revolute joint
- DriveWheel: a simulated driven wheel, velocity or effort controlled
- FreeWheel: An idle wheel that supports encoder output
- Added a new model body property: mass. An alternative to density that should make defining reasonable weight distributions easier
- Added modeling of ground contact force distribution to allow for current and future work on wheel friction calculations (only currently supported in the new DriveWheel and FreeWheel plugins, althogh DiffDrive and TricycleDrive may add support for this later)
- Added 4 new working, and 2 partially functional demo robots with ROS 2 Control, as well as a basic launch file and world file to try them out.
- Added code coverage CI
…ring wheel to allow for better vehicle dynamics simulation. Expanded prior work on approximating ground contact forces.
…s intended, but the swerve and articulated examples need some sort of translation. Maybe swerve could be driven pretending to be ackerman but that would be incorrect.
…rols for the final 2 ros2 control examples, and updates to the dockerfile and CI to allow building the ros2 control examples.
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