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[tiago]: add differential drive #174

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Merged
merged 1 commit into from
Mar 15, 2022
Merged

[tiago]: add differential drive #174

merged 1 commit into from
Mar 15, 2022

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costashatz
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This PR adds the possibility to Tiago to be controlled via the wheels. Here's a cool video:

output.mp4

Two important changes:

  • URDF to allow the movement of the wheels
  • Usage of bullet collision detector because FCL converts the cylinder shape to triangle mesh and this creates artifacts in the collision detection and movement

@costashatz costashatz added this to the RobotDART 1.0.0 milestone Mar 15, 2022
@costashatz costashatz self-assigned this Mar 15, 2022
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Important: this PR does not implement any differential drive controller (bad branch naming), but it gives the ability to do so.

@costashatz costashatz merged commit f646d44 into master Mar 15, 2022
@costashatz costashatz deleted the tiago_diff_drive branch March 15, 2022 12:40
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