Ackermann Controller#
Ackermann Controller
Installation#
To use this node enable isaacsim.robot.wheeled_robots in the Extension Manager.
Inputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Acceleration (inputs:acceleration) |
|
Magnitude of acceleration for the robot in m/s^2. Set to 0.0 to instantly set velocity to desired forward speed |
0.0 |
Back Wheel Radius (inputs:backWheelRadius) |
|
Radius of the back wheels of the robot in meters |
0.0 |
Dt (inputs:dt) |
|
Delta time for the simulation step |
0.0 |
Exec In (inputs:execIn) |
|
The input execution |
None |
Front Wheel Radius (inputs:frontWheelRadius) |
|
Radius of the front wheels of the robot in meters |
0.0 |
Invert Steering (inputs:invertSteering) |
|
Flips the sign of the steering angle, Set to true for rear wheel steering |
False |
Max Acceleration (inputs:maxAcceleration) |
|
Maximum magnitude of acceleration for the robot in m/s^2. Parameter is ignored if set to 0.0 |
0.0 |
Max Steering Angle Velocity (inputs:maxSteeringAngleVelocity) |
|
Maximum magnitude of desired rate of change for steering angle in rad/s. Parameter is ignored if set to 0.0 |
0.0 |
Max Wheel Rotation (inputs:maxWheelRotation) |
|
Magnitude of maximum angle of rotation for the front wheels in radians. Parameter is ignored if set to 0.0 |
6.28 |
Max Wheel Velocity (inputs:maxWheelVelocity) |
|
Maximum magnitude of angular velocity of the robot wheel in rad/s. Parameter is ignored if set to 0.0 |
0.0 |
Speed (inputs:speed) |
|
Desired forward speed in m/s |
0.0 |
Steering Angle (inputs:steeringAngle) |
|
Desired virtual angle in radians. Corresponds to the yaw of a virtual wheel located at the center of the front axle. By default it is positive for turning left and negative for turning right for front wheel drive. |
0.0 |
Steering Angle Velocity (inputs:steeringAngleVelocity) |
|
Magnitude of desired rate of change for steering angle in rad/s. Set to 0.0 to instantly snap wheels to desired steering angle |
0.0 |
Track Width (inputs:trackWidth) |
|
Distance between the left and right rear wheels of the robot in meters |
0.0 |
Wheel Base (inputs:wheelBase) |
|
Distance between the front and rear axles of the robot in meters |
0.0 |
Outputs#
Name |
Type |
Descripton |
Default |
|---|---|---|---|
Exec Out (outputs:execOut) |
|
The output execution |
None |
Wheel Angles (outputs:wheelAngles) |
|
Angles of the left and right turning wheels in radians. In specific order: left_wheel_angle, right_wheel_angle |
None |
Wheel Rotation Velocity (outputs:wheelRotationVelocity) |
|
Angular velocity for the turning wheels in rad/s. In specific order: front left wheel, front right wheel, back left wheel, back right wheel |
None |
Metadata#
Name |
Value |
|---|---|
Unique ID |
isaacsim.robot.wheeled_robots.AckermannController |
Version |
2 |
Extension |
isaacsim.robot.wheeled_robots |
Has State? |
False |
Implementation Language |
Python |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Ackermann Controller |
Categories |
isaacSim |
__categoryDescriptions |
isaacSim,Ackermann controller for wheels in Isaac Sim |
Generated Class Name |
OgnAckermannControllerDatabase |
Python Module |
isaacsim.robot.wheeled_robots |