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This controller implements the kinematics with two axes and four wheels, where the wheels on one axis are fixed (traction/drive) wheels, and the wheels on the other axis are steerable.

The controller expects to have two commanding joints for traction, one for each fixed wheel and two commanding joints for steering, one for each wheel.

For more details on controller’s execution and interfaces check the Steering Controller Library.


This controller uses the generate_parameter_library to handle its parameters.

For an exemplary parameterization see the test folder of the controller’s package.

Additionally to the parameters of the Steering Controller Library, this controller adds the following parameters:

front_wheel_track (double)

Front wheel track length. For details see:

Default: 0.0

rear_wheel_track (double)

Rear wheel track length. For details see:

Default: 0.0

wheelbase (double)

Distance between front and rear wheels. For details see:

Default: 0.0

front_wheels_radius (double)

Front wheels radius.

Default: 0.0

rear_wheels_radius (double)

Rear wheels radius.

Default: 0.0