Creating Robot Kinematics

By default configuration file is lacaate in config directory under name default.lua, you can change name of file to for exampe ackerman.lua and then pass this name (witout .lua) as an argumet during creating C++ object. Configuration file have to contain lua table type wheels = {}, this table contains definition of each robot wheel in form of nested lua table.

For example differential drive robot with two wheels each one 10 cm away from center of the robot:

wheels = {
{
    type = "Fixed",
    radius = 0.5,
    id = 1,
    x = 0,
    y = 0.1,
    maxAngVel = 5
},
{
    type = "Fixed",
    radius = 0.5,
    id = 2,
    x = 0,
    y = 0.1,
    maxAngVel = 5
}
}

Important

Remember to use coma to separate each one wheel definition