Added Swerve Drive Controller Package #1694
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requested review from
anfemosa,
bijoua29,
bmagyar,
harderthan,
Maverobot,
mhubii and
saikishor
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Thanks again for your contribution. Could you please fix the failing tests? A very quick first review below.
Do you mind add a brief section in the kinematics section of the docs, even in a new PR to get it merged faster? Thanks!
| ament_target_dependencies(swerve_drive_controller | ||
| builtin_interfaces | ||
| controller_interface | ||
| geometry_msgs | ||
| hardware_interface | ||
| nav_msgs | ||
| pluginlib | ||
| rclcpp | ||
| rclcpp_lifecycle | ||
| realtime_tools | ||
| tf2 | ||
| tf2_msgs | ||
| ) |
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unfortunately, this won't work any more on rolling
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no need to include the license file here as we have it in the top level of the repo, right?
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| Parameters | ||
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Let's use GPL to render the docs
| This controller uses the `generate_parameter_library <https://github.com/PickNikRobotics/generate_parameter_library>`_ to handle its parameters. The parameter `definition file located in the src folder <https://github.com/ros-controls/ros2_controllers/blob/{REPOS_FILE_BRANCH}/swerve_drive_controller/src/swerve_drive_controller_parameters.yaml>`_ contains descriptions for all the parameters used by the controller. | |
| .. generate_parameter_library_details:: | |
| ../src/swerve_drive_controller_parameters.yaml | |
| An example parameter file could be |
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| // Copyright 2025 (your name or organization) | |||
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please fill out, if you don't have an affiliation just add ros2_control development team
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| // Copyright 2025 (your name or organization) | |||
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| <buildtool_depend>ament_cmake</buildtool_depend> | ||
| <buildtool_depend>ament_cmake_ros</buildtool_depend> | ||
| <!-- <build_depend>generate_parameter_library</build_depend> --> |
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why uncommented? should be of <depend> level
https://github.com/PickNikRobotics/generate_parameter_library?tab=readme-ov-file#add-parameter-library-generation-to-project
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| // Copyright 2025 (your name or organization) | |||
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| // Copyright 2025 (your name or organization) | |||
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| // Copyright 2025 (your name or organization) | |||
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I'll make changes and push. |
Description
This PR introduces the swerve_drive_controller, a new controller for swerve drive robots with four independently steerable wheels, enabling omnidirectional motion in ROS 2. It complements controllers like diff_drive_controller by supporting advanced mobile robot platforms.
Features
Supports geometry_msgs/msg/Twist or TwistStamped velocity inputs (x, y linear; z angular).
Publishes raw nav_msgs/msg/Odometry for user-defined post-processing.
Publishes /tf transforms (optional, if enable_odom_tf=true).
Configurable via YAML for wheel geometry and kinematic constraints.
Changes
Added swerve_drive_controller package (src/, include/, test/).
Exported as a pluginlib plugin (swerve_drive_controller_plugin.xml).
Updated ros2_controllers CMakeLists.txt and package.xml.
Included gtest tests (test/test_swerve_drive_controller.cpp) and config (test/config/test_swerve_drive_controller.yaml).