Ackermann Controller
Ackermann Controller
Installation
To use this node enable omni.isaac.wheeled_robots in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
DT (inputs:DT) |
|
Delta time for the simulation step |
0.0 |
Acceleration (inputs:acceleration) |
|
Desired forward acceleration for the robot in m/s^2 |
1.0 |
Current Linear Velocity (inputs:currentLinearVelocity) |
|
Current linear velocity of the robot in m/s |
[0.0, 0.0, 0.0] |
Exec In (inputs:execIn) |
|
The input execution |
None |
Invert Steering Angle (inputs:invertSteeringAngle) |
|
Flips the sign of the steering angle, Set to true for rear wheel steering |
False |
Max Wheel Rotation (inputs:maxWheelRotation) |
|
Maximum angle of rotation for the front wheels in radians |
6.28 |
Max Wheel Velocity (inputs:maxWheelVelocity) |
|
Maximum angular velocity of the robot wheel in rad/s |
100000 |
Speed (inputs:speed) |
|
Desired forward speed in m/s |
1.0 |
Steering Angle (inputs:steeringAngle) |
|
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) |
|
Distance between the left and right rear wheels of the robot in meters |
0.0 |
Turning Wheel Radius (inputs:turningWheelRadius) |
|
Radius of the front wheels of the robot in meters |
0.0 |
Use Acceleration (inputs:useAcceleration) |
|
Use acceleration as an input, Set to false to use speed as input instead |
False |
Wheel Base (inputs:wheelBase) |
|
Distance between the front and rear axles of the robot in meters |
0.0 |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
The output execution |
None |
Left Wheel Angle (outputs:leftWheelAngle) |
|
Angle for the left turning wheel in radians |
None |
Right Wheel Angle (outputs:rightWheelAngle) |
|
Angle for the right turning wheel in radians |
None |
Wheel Rotation Velocity (outputs:wheelRotationVelocity) |
|
Angular velocity for the turning wheels in rad/s |
None |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.wheeled_robots.AckermannController |
Version |
1 |
Extension |
omni.isaac.wheeled_robots |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Ackermann Controller |
Categories |
isaacSim |
__categoryDescriptions |
isaacSim,Ackermann controller for wheels in Isaac Sim |
Generated Class Name |
OgnAckermannControllerDatabase |
Python Module |
omni.isaac.wheeled_robots |