Differential Controller#

Differential Controller

Installation#

To use this node enable isaacsim.robot.wheeled_robots in the Extension Manager.

Name	Type	Descripton	Default
Desired Angular Velocity (inputs:angularVelocity)	`double`	Desired rotation velocity in rad/s	0.0
Dt (inputs:dt)	`double`	Delta time in seconds	0.0
Exec In (inputs:execIn)	`execution`	The input execution	None
Desired Linear Velocity (inputs:linearVelocity)	`double`	Desired linear velocity in m/s	0.0
Max Acceleration (inputs:maxAcceleration)	`double`	Maximum linear acceleration of the robot for forward and reverse in m/s^2, 0.0 means not set	0.0
Max Angular Acceleration (inputs:maxAngularAcceleration)	`double`	Maximum angular acceleration of the robot in rad/s^2, 0.0 means not set	0.0
Max Angular Speed (inputs:maxAngularSpeed)	`double`	Max angular speed allowed for vehicle in rad/s, 0.0 means not set	0.0
Max Deceleration (inputs:maxDeceleration)	`double`	Maximum linear braking of the robot in m/s^2, 0.0 means not set.	0.0
Max Linear Speed (inputs:maxLinearSpeed)	`double`	Max linear speed allowed for vehicle in m/s, 0.0 means not set	0.0
Max Wheel Speed (inputs:maxWheelSpeed)	`double`	Max wheel speed allowed in rad/s, 0.0 means not set	0.0
Wheel Distance (inputs:wheelDistance)	`double`	Distance between the two wheels in meters	0.0
Wheel Radius (inputs:wheelRadius)	`double`	Radius of the wheels in meters	0.0

Name	Type	Descripton	Default
Velocity Command (outputs:velocityCommand)	`double[]`	Velocity commands Units: linear (m/s) angular (rad/s)	[0.0, 0.0]

Name	Value
Unique ID	isaacsim.robot.wheeled_robots.DifferentialController
Version	1
Extension	isaacsim.robot.wheeled_robots
Icon	ogn/icons/isaacsim.robot.wheeled_robots.DifferentialController.svg
Has State?	False
Implementation Language	C++
Default Memory Type	cpu
Generated Code Exclusions	None
uiName	Differential Controller
Categories	isaacWheeledRobots
Generated Class Name	OgnDifferentialControllerDatabase
Python Module	isaacsim.robot.wheeled_robots