Add AckermannDriveStamped control to steering library #1563

wittenator · 2025-03-01T11:00:39Z

This PR adds the option to use steering angle and linear velocity for controllers that inherit from the steering library.

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wittenator · 2025-03-01T11:12:19Z

The tests on HEAD are currently broken, but I wanted to get this PR out in order to track progress.

christophfroehlich

why WIP?
Please fix the failing jobs, start with the pre-commit and clang job.
The tests on the master branch are green.

steering_controllers_library/src/steering_odometry.cpp

steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp

Juliaj · 2025-06-12T17:16:06Z

@Juliaj How relevant are additional test cases for the inheriting controllers? Since I only added passthrough for the class variable in the controllers, tests for each inherited controller would essentially only test the functionality of the steering controller that is already covered and add a huge amount of boilerplate for the other controllers.

@wittenator, sorry for missing your comment. I noticed that you have updated the tests. Will take another look shortly.

steering_controllers_library/doc/userdoc.rst

Juliaj · 2025-06-13T02:45:56Z

@Juliaj How relevant are additional test cases for the inheriting controllers? Since I only added passthrough for the class variable in the controllers, tests for each inherited controller would essentially only test the functionality of the steering controller that is already covered and add a huge amount of boilerplate for the other controllers.

@wittenator, great work on the test coverage added in test_steering_controllers_library_steering_input.cpp!

I'd suggest adding one more test to cover the new use_twist_input parameter. This could be added to the existing on_configure test or in a dedicated test case to verify the parameter is properly handled during configuration.

Overall, these changes look solid!

mergify · 2025-07-24T19:44:32Z

This pull request is in conflict. Could you fix it @wittenator?

christophfroehlich

I responded to your questions, could you please address them and fix the conflicts from the latest refactoring?

christophfroehlich · 2025-07-24T19:55:59Z

I'd suggest adding one more test to cover the new use_twist_input parameter. This could be added to the existing on_configure test or in a dedicated test case to verify the parameter is properly handled during configuration.

Isn't this implicitly done by the new tests using the yaml parmeterfile?

wittenator · 2025-08-06T20:48:39Z

I responded to your questions, could you please address them and fix the conflicts from the latest refactoring?

I'm on it and going to fix the conflicts over the coming days. Thanks for answering the remaining few questions!

christophfroehlich

Please also address the old open conversation about the argument and variable renaming.

steering_controllers_library/src/steering_odometry.cpp

steering_controllers_library/src/steering_controllers_library.cpp

steering_controllers_library/test/test_steering_controllers_library_steering_input.hpp

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

christophfroehlich

Thanks for your patience, I still have some comments to be solved.

steering_controllers_library/src/steering_odometry.cpp

steering_controllers_library/doc/userdoc.rst

Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

wittenator · 2025-11-15T11:58:10Z

Thanks for looking over it again! I've fixed both open requests

christophfroehlich

Thanks again for the followup. Almost finished IMHO:

I think the renaming to angular_command was missing in the header files, and I hope that I found all occurrences for improving the argument name.
The build fails now. Please apply the changes from this PR to the added file.

christophfroehlich · 2025-11-15T20:52:33Z

steering_controllers_library/src/steering_odometry.cpp


-void SteeringOdometry::update_open_loop(const double v_bx, const double omega_bz, const double dt)
+void SteeringOdometry::update_open_loop(
+  const double v_bx, const double last_angular_command_, const double dt,


Suggested change

const double v_bx, const double last_angular_command_, const double dt,

const double v_bx, const double angular_command, const double dt,

Trailing _ is denoting a member variable. and why using last?

christophfroehlich · 2025-11-15T20:52:40Z

steering_controllers_library/src/steering_odometry.cpp


  /// Integrate odometry:
-  integrate_fk(v_bx, omega_bz, dt);
+  integrate_fk(v_bx, last_angular_command_, dt);


Suggested change

integrate_fk(v_bx, last_angular_command_, dt);

integrate_fk(v_bx, angular_command, dt);

christophfroehlich · 2025-11-15T20:54:15Z

steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp

   */
-  void update_open_loop(const double v_bx, const double omega_bz, const double dt);
+  void update_open_loop(
+    const double v_bx, const double omega_bz, const double dt, const bool use_twist_input = true);


Suggested change

const double v_bx, const double omega_bz, const double dt, const bool use_twist_input = true);

const double v_bx, const double angular_command, const double dt, const bool use_twist_input = true);

steering_controllers_library/test/test_steering_controllers_library_ackermann.hpp

christophfroehlich · 2025-11-15T21:05:39Z

steering_controllers_library/src/steering_odometry.cpp

+  angular_ = use_twist_input
+               ? last_angular_command_
+               : convert_steering_angle_to_angular_velocity(v_bx, last_angular_command_);


Suggested change

angular_ = use_twist_input

? last_angular_command_

: convert_steering_angle_to_angular_velocity(v_bx, last_angular_command_);

angular_ = use_twist_input

? angular_command

: convert_steering_angle_to_angular_velocity(v_bx, angular_command);

christophfroehlich · 2025-11-15T21:06:05Z

steering_controllers_library/src/steering_odometry.cpp

 std::tuple<std::vector<double>, std::vector<double>> SteeringOdometry::get_commands(
-  const double v_bx, const double omega_bz, const bool open_loop,
-  const bool reduce_wheel_speed_until_steering_reached)
+  const double v_bx, const double last_angular_command_, const bool open_loop,


Suggested change

const double v_bx, const double last_angular_command_, const bool open_loop,

const double v_bx, const double angular_command, const bool open_loop,

christophfroehlich · 2025-11-15T21:06:14Z

steering_controllers_library/src/steering_odometry.cpp

+          ? SteeringOdometry::convert_twist_to_steering_angle(v_bx, last_angular_command_)
+          : last_angular_command_;


Suggested change

? SteeringOdometry::convert_twist_to_steering_angle(v_bx, last_angular_command_)

: last_angular_command_;

? SteeringOdometry::convert_twist_to_steering_angle(v_bx, angular_command)

: angular_command;

christophfroehlich · 2025-11-15T21:06:42Z

steering_controllers_library/include/steering_controllers_library/steering_odometry.hpp

   * \return Tuple of velocity commands and steering commands
   */
  std::tuple<std::vector<double>, std::vector<double>> get_commands(
    const double v_bx, const double omega_bz, const bool open_loop = true,


Suggested change

const double v_bx, const double omega_bz, const bool open_loop = true,

const double v_bx, const double angular_command, const bool open_loop = true,

wittenator added 8 commits March 1, 2025 08:50

Add additional tests

768ef15

Merge branch 'ros-controls:master' into master

e22df84

Remove twist_input from closed loop odometry calculation

36bc9d5

Merge branch 'ros-controls:master' into master

94eebd0

Add in missing test case

c0f103e

Merge branch 'master' of github.com:wittenator/ros2_controllers

0564ada

Fixed comment

eaebf09

Update on ackermann message

3e84edd

github-actions bot requested review from anfemosa, christophfroehlich, destogl, erickisos, mhubii, moriarty and rosterloh March 1, 2025 11:00

wittenator changed the title ~~Add AckermannDriveStamped control to steering library~~ WIP: Add AckermannDriveStamped control to steering library Mar 1, 2025

wittenator mentioned this pull request Mar 1, 2025

WIP: Add AckermannDriveStamped control to steering library #1171

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wittenator and others added 3 commits March 3, 2025 14:03

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Merge branch 'master' into master

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wittenator added 2 commits June 12, 2025 09:36

Added consistent naming in tests and fixed docs

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wittenator and others added 6 commits September 28, 2025 11:00

Merge branch 'ros-controls:master' into master

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Merge branch 'ros-controls:master' into master

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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

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Merge branch 'master' of github.com:wittenator/ros2_controllers

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wittenator and others added 7 commits November 1, 2025 15:47

Update steering_controllers_library/doc/userdoc.rst

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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Update steering_controllers_library/doc/userdoc.rst

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Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>

Merge branch 'master' into master

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	const double v_bx, const double last_angular_command_, const double dt,
	const double v_bx, const double angular_command, const double dt,

	integrate_fk(v_bx, last_angular_command_, dt);
	integrate_fk(v_bx, angular_command, dt);

	const double v_bx, const double omega_bz, const double dt, const bool use_twist_input = true);
	const double v_bx, const double angular_command, const double dt, const bool use_twist_input = true);

		? SteeringOdometry::convert_twist_to_steering_angle(v_bx, last_angular_command_)
		: last_angular_command_;

Add AckermannDriveStamped control to steering library #1563

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