Class ZODifferentialDriveController

Overview:

Controller for differential drive wheel systems. Control is in the form of a velocity command, that is split then sent on the two wheels of a differential drive wheel base. Odometry is computed from the feedback from the hardware, and published.

Velocity commands:

The controller works with a velocity twist from which it extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.

Inheritance
System.Object
UnityEngine.Object
UnityEngine.Component
UnityEngine.Behaviour
UnityEngine.MonoBehaviour
ZOGameObjectBase
ZODifferentialDriveController
Inherited Members
UnityEngine.MonoBehaviour.IsInvoking()
UnityEngine.MonoBehaviour.CancelInvoke()
UnityEngine.MonoBehaviour.Invoke(System.String, System.Single)
UnityEngine.MonoBehaviour.InvokeRepeating(System.String, System.Single, System.Single)
UnityEngine.MonoBehaviour.CancelInvoke(System.String)
UnityEngine.MonoBehaviour.IsInvoking(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String)
UnityEngine.MonoBehaviour.StartCoroutine(System.String, System.Object)
UnityEngine.MonoBehaviour.StartCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StartCoroutine_Auto(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(System.Collections.IEnumerator)
UnityEngine.MonoBehaviour.StopCoroutine(UnityEngine.Coroutine)
UnityEngine.MonoBehaviour.StopCoroutine(System.String)
UnityEngine.MonoBehaviour.StopAllCoroutines()
UnityEngine.MonoBehaviour.print(System.Object)
UnityEngine.MonoBehaviour.useGUILayout
UnityEngine.MonoBehaviour.runInEditMode
UnityEngine.Behaviour.enabled
UnityEngine.Behaviour.isActiveAndEnabled
UnityEngine.Component.GetComponent(System.Type)
UnityEngine.Component.GetComponent<T>()
UnityEngine.Component.TryGetComponent(System.Type, UnityEngine.Component)
UnityEngine.Component.TryGetComponent<T>(T)
UnityEngine.Component.GetComponent(System.String)
UnityEngine.Component.GetComponentInChildren(System.Type, System.Boolean)
UnityEngine.Component.GetComponentInChildren(System.Type)
UnityEngine.Component.GetComponentInChildren<T>(System.Boolean)
UnityEngine.Component.GetComponentInChildren<T>()
UnityEngine.Component.GetComponentsInChildren(System.Type, System.Boolean)
UnityEngine.Component.GetComponentsInChildren(System.Type)
UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean)
UnityEngine.Component.GetComponentsInChildren<T>(System.Boolean, System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentsInChildren<T>()
UnityEngine.Component.GetComponentsInChildren<T>(System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentInParent(System.Type)
UnityEngine.Component.GetComponentInParent<T>()
UnityEngine.Component.GetComponentsInParent(System.Type, System.Boolean)
UnityEngine.Component.GetComponentsInParent(System.Type)
UnityEngine.Component.GetComponentsInParent<T>(System.Boolean)
UnityEngine.Component.GetComponentsInParent<T>(System.Boolean, System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponentsInParent<T>()
UnityEngine.Component.GetComponents(System.Type)
UnityEngine.Component.GetComponents(System.Type, System.Collections.Generic.List<UnityEngine.Component>)
UnityEngine.Component.GetComponents<T>(System.Collections.Generic.List<T>)
UnityEngine.Component.GetComponents<T>()
UnityEngine.Component.CompareTag(System.String)
UnityEngine.Component.SendMessageUpwards(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessageUpwards(System.String, System.Object)
UnityEngine.Component.SendMessageUpwards(System.String)
UnityEngine.Component.SendMessageUpwards(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessage(System.String, System.Object)
UnityEngine.Component.SendMessage(System.String)
UnityEngine.Component.SendMessage(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.SendMessage(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.BroadcastMessage(System.String, System.Object, UnityEngine.SendMessageOptions)
UnityEngine.Component.BroadcastMessage(System.String, System.Object)
UnityEngine.Component.BroadcastMessage(System.String)
UnityEngine.Component.BroadcastMessage(System.String, UnityEngine.SendMessageOptions)
UnityEngine.Component.transform
UnityEngine.Component.gameObject
UnityEngine.Component.tag
UnityEngine.Object.GetInstanceID()
UnityEngine.Object.GetHashCode()
UnityEngine.Object.Equals(System.Object)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)
UnityEngine.Object.Instantiate(UnityEngine.Object)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform)
UnityEngine.Object.Instantiate(UnityEngine.Object, UnityEngine.Transform, System.Boolean)
UnityEngine.Object.Instantiate<T>(T)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Vector3, UnityEngine.Quaternion, UnityEngine.Transform)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform)
UnityEngine.Object.Instantiate<T>(T, UnityEngine.Transform, System.Boolean)
UnityEngine.Object.Destroy(UnityEngine.Object, System.Single)
UnityEngine.Object.Destroy(UnityEngine.Object)
UnityEngine.Object.DestroyImmediate(UnityEngine.Object, System.Boolean)
UnityEngine.Object.DestroyImmediate(UnityEngine.Object)
UnityEngine.Object.FindObjectsOfType(System.Type)
UnityEngine.Object.FindObjectsOfType(System.Type, System.Boolean)
UnityEngine.Object.DontDestroyOnLoad(UnityEngine.Object)
UnityEngine.Object.DestroyObject(UnityEngine.Object, System.Single)
UnityEngine.Object.DestroyObject(UnityEngine.Object)
UnityEngine.Object.FindSceneObjectsOfType(System.Type)
UnityEngine.Object.FindObjectsOfTypeIncludingAssets(System.Type)
UnityEngine.Object.FindObjectsOfType<T>()
UnityEngine.Object.FindObjectsOfType<T>(System.Boolean)
UnityEngine.Object.FindObjectOfType<T>()
UnityEngine.Object.FindObjectOfType<T>(System.Boolean)
UnityEngine.Object.FindObjectsOfTypeAll(System.Type)
UnityEngine.Object.FindObjectOfType(System.Type)
UnityEngine.Object.FindObjectOfType(System.Type, System.Boolean)
UnityEngine.Object.ToString()
UnityEngine.Object.name
UnityEngine.Object.hideFlags
System.Object.Equals(System.Object, System.Object)
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
Namespace: ZO.ROS.Controllers
Assembly: Unity.ZeroSim.dll
Syntax
public class ZODifferentialDriveController : ZOGameObjectBase, ZOSerializationInterface

Fields

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_connectedBody

Declaration
public ZOSimOccurrence _connectedBody
Field Value
Type Description
ZOSimOccurrence
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_leftWheelMotor

Declaration
[SerializeField]
public ZOHingeJoint _leftWheelMotor
Field Value
Type Description
ZOHingeJoint
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_name

Declaration
public string _name
Field Value
Type Description
System.String
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_rightWheelMotor

Declaration
[SerializeField]
public ZOHingeJoint _rightWheelMotor
Field Value
Type Description
ZOHingeJoint
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_ROSTopicSubscription

ROS control twist message topic. To test: rosrun turtlebot3 turtlebot3_teleop_key

Declaration
public string _ROSTopicSubscription
Field Value
Type Description
System.String
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_steerOpposite

Declaration
public bool _steerOpposite
Field Value
Type Description
System.Boolean
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_wheelRadius

Declaration
public float _wheelRadius
Field Value
Type Description
System.Single
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_wheelSeperation

Declaration
public float _wheelSeperation
Field Value
Type Description
System.Single

Properties

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AngularVelocity

Declaration
public float AngularVelocity { get; set; }
Property Value
Type Description
System.Single
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ConnectedRigidBody

The main rigid body of the controller. Would usually be the "main chassis" of a robot.

Declaration
public Rigidbody ConnectedRigidBody { get; }
Property Value
Type Description
UnityEngine.Rigidbody
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JSON

Declaration
public JObject JSON { get; set; }
Property Value
Type Description
Newtonsoft.Json.Linq.JObject
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LeftWheelMotor

Hinge joint that drive the left wheel.

Declaration
public ZOHingeJoint LeftWheelMotor { get; set; }
Property Value
Type Description
ZOHingeJoint
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LinearVelocity

Declaration
public float LinearVelocity { get; set; }
Property Value
Type Description
System.Single
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Name

Declaration
public string Name { get; }
Property Value
Type Description
System.String
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RightWheelMotor

Hinge joint that drives the right wheel.

Declaration
public ZOHingeJoint RightWheelMotor { get; set; }
Property Value
Type Description
ZOHingeJoint
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Type

Declaration
public string Type { get; }
Property Value
Type Description
System.String

Methods

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Deserialize(ZOSimDocumentRoot, JObject)

Declaration
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
Newtonsoft.Json.Linq.JObject json
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OnROSBridgeConnected(Object)

Declaration
public void OnROSBridgeConnected(object rosUnityManager)
Parameters
Type Name Description
System.Object rosUnityManager
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OnROSBridgeDisconnected(Object)

Declaration
public void OnROSBridgeDisconnected(object rosUnityManager)
Parameters
Type Name Description
System.Object rosUnityManager
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OnROSTwistMessageReceived(ZOROSBridgeConnection, ZOROSMessageInterface)

Handles subscribed to TwistMessage which controls the differential control steering and drive.

Declaration
public Task OnROSTwistMessageReceived(ZOROSBridgeConnection rosBridgeConnection, ZOROSMessageInterface msg)
Parameters
Type Name Description
ZOROSBridgeConnection rosBridgeConnection

ROS Bridge Connection
ZOROSMessageInterface msg

TwistMessage
Returns
Type Description
System.Threading.Tasks.Task
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Serialize(ZOSimDocumentRoot, Object)

Declaration
public JObject Serialize(ZOSimDocumentRoot documentRoot, Object parent = null)
Parameters
Type Name Description
ZOSimDocumentRoot documentRoot
UnityEngine.Object parent
Returns
Type Description
Newtonsoft.Json.Linq.JObject
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ZOFixedUpdate()

Declaration
protected override void ZOFixedUpdate()
Overrides
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ZOFixedUpdateHzSynchronized()

Declaration
protected override void ZOFixedUpdateHzSynchronized()
Overrides
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ZOOnDestroy()

Declaration
protected override void ZOOnDestroy()
Overrides
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ZOStart()

Declaration
protected override void ZOStart()
Overrides

Implements