Differential Controller

Differential 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	radius of the wheels
wheelDistance	double	distance between the two wheels
maxLinearSpeed	double	max linear speed allowed for vehicle
maxAngularSpeed	double	max angular speed allowed for vehicle
maxWheelSpeed	double	max wheel speed allowed
linearVelocity	double	desired linear velocity
angularVelocity	double	desired rotation velocity

Outputs

Name	Type	Description	Default
positionCommand	double[]	position commands
velocityCommand	double[]	velocity commands
effortCommand	double[]	effort commands