This package aims to implement functionality of gazebo_ros_four_wheel_steering using the ros2 controller_interface.
Features of gazebo_ros_four_wheel_steering implemented:
- control using FourWheelSteeringStamped messages
- publish current speed and steering angle state as FourWheelSteeringStamped messages
- command timeout handling
- state noise simulation
- latency simulation
Strongly inspired by the current diff_drive_controller implementation.
Copyright 2021 Austrian Institute of Technology GmbH
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.