Stanley Control PID

Drive to Target Steering

Installation

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

Inputs

Name

Type

Descripton

Default

Current Orientation (inputs:currentOrientation)

quatd[4]

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

[0.0, 0.0, 0.0, 0.0]

Current Position (inputs:currentPosition)

vectord[3]

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

[0.0, 0.0, 0.0]

Current Speed (inputs:currentSpeed)

vectord[3]

Current linear velocity of the robot

[0.0, 0.0, 0.0]

Draw Path (inputs:drawPath)

bool

Draw the provided path curve onto the stage

False

Exec In (inputs:execIn)

execution

The input execution

None

Gains (inputs:gains)

double[3]

control, velocity and steering gains

[0.5, 0.1, 0.0872665]

Max Velocity (inputs:maxVelocity)

double

Maximum linear velocity of the robot

1.5

Path Arrays (inputs:pathArrays)

double[]

The path v, x, y, and yaw arrays

[]

Reached Goal (inputs:reachedGoal)

bool[]

Position and orientation thresholds at target

[False, False]

Step (inputs:step)

double

Step

0.16666666667

Target (inputs:target)

double[3]

Target position and orientation

[0, 0, 0]

Target Changed (inputs:targetChanged)

bool

Target position/orientation has changed

False

Thresholds (inputs:thresholds)

double[2]

Position and orientation thresholds at target

[0.1, 0.1]

Wheel Base (inputs:wheelBase)

double

Distance between the centers of the front and rear wheels

0.4132

Outputs

Name

Type

Descripton

Default

Angular Velocity (outputs:angularVelocity)

double

Current angular speed for robot drive

None

Exec Out (outputs:execOut)

execution

The output execution

None

Linear Velocity (outputs:linearVelocity)

double

Current forward speed for robot drive

None

Metadata

Name

Value

Unique ID

omni.isaac.wheeled_robots.StanleyControlPID

Version

1

Extension

omni.isaac.wheeled_robots

Has State?

False

Implementation Language

Python

Default Memory Type

cpu

Generated Code Exclusions

None

uiName

Stanley Control PID

Categories

isaacSim

__categoryDescriptions

isaacSim,robot path planning inside Isaac Sim

Generated Class Name

OgnStanleyControlPIDDatabase

Python Module

omni.isaac.wheeled_robots