Stanley Control PID

Drive to Target Steering

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

currentPosition

vectord[3]

Current position of the robot (recommended to use Get Prim Local to World Transform node)

currentOrientation

quatd[4]

Current rotation of the robot as a quaternion (recommended to use Get Prim Local to World Transform node)

currentSpeed

vectord[3]

Current linear velocity of the robot

maxVelocity

double

Maximum linear velocity of the robot

1.5

reachedGoal

bool[]

Position and orientation thresholds at target

[False, False]

pathArrays

double[]

The path v, x, y, and yaw arrays

target

double[3]

Target position and orientation

[0, 0, 0]

targetChanged

bool

Target position/orientation has changed

False

wheelBase

double

Distance between the centers of the front and rear wheels

0.4132

thresholds

double[2]

Position and orientation thresholds at target

[0.1, 0.1]

drawPath

bool

Draw the provided path curve onto the stage

False

step

double

Step

0.16666666667

Outputs

Name

Type

Description

Default

execOut

execution

The output execution

linearVelocity

double

Current forward speed for robot drive

angularVelocity

double

Current angular speed for robot drive