Holonomic Controller

Holonomic Controller

Installation

To use this Node, you must enable omni.isaac.wheeled_robots in the Extension Manager.

Inputs

Name	Type	Description	Default
execIn	execution	The input execution
wheelRadius	double[]	an array of wheel radius
wheelPositions	double[3][]	position of the wheel with respect to chassis’ center of mass
wheelOrientations	double[4][]	orientation of the wheel with respect to chassis’ center of mass frame
mecanumAngles	double[]	angles of the mecanum wheels with respect to wheel’s rotation axis
wheelAxis	double[3]	the rotation axis of the wheels
upAxis	double[3]	the rotation axis of the vehicle
velocityCommands	float[3], double[3]	velocity in x and y and rotation
maxLinearSpeed	double	maximum speed allowed for the vehicle
maxAngularSpeed	double	maximum angular rotation speed allowed for the vehicle
maxWheelSpeed	double	maximum rotation speed allowed for the wheel joints
linearGain	double	linear gain	1
angularGain	double	angular gain	1

Outputs

Name	Type	Description	Default
jointPositionCommand	double[]	position commands for the wheel joints
jointVelocityCommand	double[]	velocity commands for the wheels joints
jointEffortCommand	double[]	effort commands for the wheels joints