Add initial

2026-07-15 14:10:00 +00:00
parent a81b99cd3c
commit 76701e81c0
10 changed files with 1281 additions and 34 deletions
@@ -0,0 +1,46 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 50  # Hz — matches ESP32 auto-report rate
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    mecanum_drive_controller:
+      type: mecanum_drive_controller/MecanumDriveController
+
+# ─────────────────────────────────────────────────────────────────────────────
+# Mecanum drive controller
+# ─────────────────────────────────────────────────────────────────────────────
+# NOTE: The URDF joint names do not match the physical wheel positions due to a
+# naming inconsistency in agv_pro.urdf.  The mapping between the controller's
+# logical positions and the URDF joint names is as follows:
+#
+#   Physical position │ URDF joint name
+#   ──────────────────┼────────────────────────────
+#   front-left  (FL)  │ left_front_wheel_joint   ✓
+#   front-right (FR)  │ left_rear_wheel_joint     ← physically front-right
+#   rear-left   (RL)  │ right_front_wheel_joint   ← physically rear-left
+#   rear-right  (RR)  │ right_rear_wheel_joint   ✓
+#
+# The same mapping is used by the hardware interface (front_left_joint /
+# front_right_joint / rear_left_joint / rear_right_joint params in the URDF
+# <ros2_control> block).
+mecanum_drive_controller:
+  ros__parameters:
+    front_left_wheel_command_joint_name:  left_front_wheel_joint
+    front_right_wheel_command_joint_name: left_rear_wheel_joint
+    rear_left_wheel_command_joint_name:   right_front_wheel_joint
+    rear_right_wheel_command_joint_name:  right_rear_wheel_joint
+
+    odom_frame_id:  odom
+    base_frame_id:  base_footprint
+    enable_odom_tf: true
+
+    kinematics:
+      # wheel_radius: height of wheel centre above ground from URDF joint origin
+      # (base_footprint→base_link = 0.020 m + wheel joint z-offset ≈ 0.052 m = 0.072 m)
+      wheels_radius: 0.072
+      # sum_of_robot_center_projection_on_X_Y_axis = lx + ly
+      # lx ≈ 0.172 m (half wheelbase from URDF joint x-origins)
+      # ly ≈ 0.180 m (half track from URDF joint y-origins)
+      sum_of_robot_center_projection_on_X_Y_axis: 0.352