General purpose Ackermann steering utilities for ISC projects
This library does not use ROS directly, so it should be usable on constrained platforms.
Features:
- Ackermann to twist conversion
- Twist to ackermann conversion
- (Inverse) Steering ratio functions for ISC projects
This library uses the convention of:
- distances in meters
- angles in radians, where left is positive
To use libackermann in your Cmake projects (ROS included), add to your CmakeLists.txt:
include(FetchContent)
FetchContent_Declare(
libackermann
GIT_REPOSITORY https://github.com/iscumd/libackermann.git
)
FetchContent_MakeAvailable(libackermann)
target_link_libraries({$PROJECT} libackermann)Note that in ROS, you must apply
target_link_libraries({$PROJECT} libackermann)
to any unit tests you have aswell, since they are seperate executables under the hood,
and libackermann will not be automagically applied like ament packages will.
| Header | contains |
|---|---|
| libackermann/libackermann.hpp | Meta header than includes all others. |
| libackermann/types.hpp | Command type definitions. |
| libackermann/conversions.hpp | Conversions between command types. |
| libackermann/steering_ratio.hpp | Steering ratio functions for various ISC projects. |
See tests for example use cases.