Ackermann Steering

NOTE: DEPRECATED as of Isaac Sim 4.1.0 in favour of OgnAckermannController Ackermann Steering Geometry

Installation

To use this node enable omni.isaac.wheeled_robots in the Extension Manager.

Inputs

Name	Type	Descripton	Default
DT (inputs:DT)	`double`	Delta time for the simulation step	0.0
Acceleration (inputs:acceleration)	`double`	Desired forward acceleration for the robot in m/s^2	0.0
Current Linear Velocity (inputs:currentLinearVelocity)	`vectord[3]`	Current linear velocity of the robot in m/s	[0.0, 0.0, 0.0]
Exec In (inputs:execIn)	`execution`	The input execution	None
Invert Steering Angle (inputs:invertSteeringAngle)	`bool`	Flips the sign of the steering angle, Set to true for rear wheel steering	False
Max Wheel Rotation (inputs:maxWheelRotation)	`double`	Maximum angle of rotation for the front wheels in radians	0.0
Max Wheel Velocity (inputs:maxWheelVelocity)	`double`	Maximum angular velocity of the robot wheel in rad/s	0.0
Speed (inputs:speed)	`double`	Desired forward speed in m/s	0.0
Steering Angle (inputs:steeringAngle)	`double`	Desired virtual angle in radians. Corresponds to the yaw of a virtual wheel located at the center of the front axle. By default it is positive for turning left and negative for turning right for front wheel drive.	0.0
Track Width (inputs:trackWidth)	`double`	Distance between the left and right rear wheels of the robot in meters	0.0
Turning Wheel Radius (inputs:turningWheelRadius)	`double`	Radius of the front wheels of the robot in meters	0.0
Use Acceleration (inputs:useAcceleration)	`bool`	Use acceleration as an input, Set to false to use speed as input instead	True
Wheel Base (inputs:wheelBase)	`double`	Distance between the front and rear axles of the robot in meters	0.0

Outputs

Name	Type	Descripton	Default
Exec Out (outputs:execOut)	`execution`	The output execution	None
Left Wheel Angle (outputs:leftWheelAngle)	`double`	Angle for the left turning wheel in radians	None
Right Wheel Angle (outputs:rightWheelAngle)	`double`	Angle for the right turning wheel in radians	None
Wheel Rotation Velocity (outputs:wheelRotationVelocity)	`double`	Angular velocity for the turning wheels in rad/s	None

Metadata

Name	Value
Unique ID	omni.isaac.wheeled_robots.AckermannSteering
Version	1
Extension	omni.isaac.wheeled_robots
Has State?	False
Implementation Language	Python
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Ackermann Steering
hidden	true
Categories	isaacSim
__categoryDescriptions	isaacSim,Ackermann steering for robots in Isaac Sim
Generated Class Name	OgnAckermannDatabase
Python Module	omni.isaac.wheeled_robots