Pose Control¶

Link to module repo: Pose Control

Overview¶

The pose control block implements a simple algorithm to control the linear and angular velocity of the wheels. It reads in setpoint values from a path planner together with actual positional and angular values of the current state of the wheels. The output is in the form of a twist message transformed into local TCP coordinates.

Configuration¶

A configuration file is given as following

{
    "poseControl": {
        "control_kp_pos": 2.0,
        "control_kd_pos": 1.0,
        "control_kp_ang": 2.0,
        "control_kd_ang": 1.0
    }
}

The settings are for kp and kd for positions and angles.

Make sure to override the setting for the pose control block for your rover settings.