Differential Controller
Differential Controller
Installation
To use this node enable omni.isaac.wheeled_robots in the Extension Manager.
Inputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Desired Angular Velocity (inputs:angularVelocity) |
|
desired rotation velocity |
0.0 |
Dt (inputs:dt) |
|
delta time |
0.0 |
Exec In (inputs:execIn) |
|
The input execution |
None |
Desired Linear Velocity (inputs:linearVelocity) |
|
desired linear velocity |
0.0 |
Max Acceleration (inputs:maxAcceleration) |
|
maximum linear acceleration of the robot for forward and reverse, 0.0 means not set |
0.0 |
Max Angular Acceleration (inputs:maxAngularAcceleration) |
|
maximum angular acceleration of the robot, 0.0 means not set |
0.0 |
Max Angular Speed (inputs:maxAngularSpeed) |
|
max angular speed allowed for vehicle, 0.0 means not set |
0.0 |
Max Deceleration (inputs:maxDeceleration) |
|
maximum linear braking of the robot, 0.0 means not set. |
0.0 |
Max Linear Speed (inputs:maxLinearSpeed) |
|
max linear speed allowed for vehicle, 0.0 means not set |
0.0 |
Max Wheel Speed (inputs:maxWheelSpeed) |
|
max wheel speed allowed, 0.0 means not set |
0.0 |
Wheel Distance (inputs:wheelDistance) |
|
distance between the two wheels |
0.0 |
Wheel Radius (inputs:wheelRadius) |
|
radius of the wheels |
0.0 |
Outputs
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Velocity Command (outputs:velocityCommand) |
|
velocity commands |
[0.0, 0.0] |
Metadata
Name |
Value |
|---|---|
Unique ID |
omni.isaac.wheeled_robots.DifferentialController |
Version |
1 |
Extension |
omni.isaac.wheeled_robots |
Icon |
ogn/icons/omni.isaac.wheeled_robots.DifferentialController.svg |
Has State? |
False |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Differential Controller |
Categories |
isaacSim |
__categoryDescriptions |
isaacSim,robot controller inside Isaac Sim |
Generated Class Name |
OgnDifferentialControllerDatabase |
Python Module |
omni.isaac.wheeled_robots |