TUW IWOS

This is the main package for the ROS Noetic operation of the Independent Wheel Offset Steering robot prototype. This prototype was created by Eugen Kaltenegger as part of the master thesis. Please check out the thesis for details on the Independent Wheel Offset Steering.

Packages outside of this repository that are required are:

• tuw_geometry (branch: noetic)
• tuw_msgs (branch: noetic)
• tuw_teleop (branch: noetic)
• tuw_sensor (branch: neotic)
• tuw_hardware_interface (branch: noetic)

A Docker container containing this repository and all dependencies is available. For more details please check out the docker repository of the tuw-robotics group. In the folder iwos/iwos-robot more details on the docker container can be found. Additionally, the setup in this repository may be applied to a local setup.

Operating the Independent Wheel Offset Steering

For more details on how to operate the Independent Wheel Offset Steering robot prototpye please check out the ROBOT.md file.

tuw_iwos - Metapackage

Metapackage for tuw_iwos.

tuw_iwos_hardware

Package to operate the hardware of the Independent Wheel Offset Steering robot prototype. This package depends on the tuw_hardware_interface package which utilizes the ros_control system for hardware operation. For more details check tuw_iwos_hardware/README.md.

tuw_iwos_hardware_broker

Package to distribute the joint specific command element of a tuw_nav_msgs/JointsIWS message to the according topic for the ros_controller of the ros_control operating joint. For more details check tuw_iwos_hardware_broker/README.md.

tuw_iwos_launches

Package containing launch files for the Independent Wheel Offset Steering robot prototype. For more details check tuw_iwos_launches/README.md.

tuw_iwos_motion_model

Package containing the Motion Model and Odometry Motion Model for the Independent Wheel Offset Steering. The algorithms are presented in the aforementioned master thesis. For more details check tuw_iwos_motion_model/README.md.

tuw_iwos_odometer

Package containing an odometer approach for the Independent Wheel Offset Steering robot prototype. For more details check tuw_iwos_motion_model/README.md.

tuw_iwos_robot_description

Package with the robot description (Unified Robot Description Format) of the Independent Wheel Offset Steering robot prototype. For more details check tuw_iwos_robot_description.

tuw_iwos_tools

Package containing various tools for the other packages for the Independent Wheel Offset Steering robot prototype. For more details check tuw_iwos_ros_control/README.md.