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-.. _steering_controllers_libaray_userdoc:
-
-steering_controllers_library
-=============================
-
-Library with shared functionalities for mobile robots controllers with steering drive (2 degrees of freedom).
-The library implements generic odometry and update methods and defines the main interfaces.
-
-Nomenclature used for the controller is used from `wikipedia <https://en.wikipedia.org/wiki/Wheelbase>`_.
-
-Execution logic of the controller
-----------------------------------
-
-The controller uses velocity input, i.e., stamped or unstamped Twist messages where linear ``x`` and angular ``z`` components are used.
-Angular component is under
-Values in other components are ignored.
-In the chain mode the controller provides two reference interfaces, one for linear velocity and one for steering angle position.
-Other relevant features are:
-
-  - support for front and rear steering configurations;
-  - odometry publishing as Odometry and TF message;
-  - input command timeout based on a parameter.
-
-The command for the wheels are calculated using ``odometry`` library where based on concrete kinematics traction and steering commands are calculated.
-Currently implemented kinematics in corresponding packages are:
-
-  - :ref:`Bicycle <bicycle_steering_controller_userdoc>` - with one steering and one drive joints;
-  - :ref:`Tricylce <tricycle_steering_controller_userdoc>` - with one steering and two drive joints;
-  - :ref:`Ackermann <ackermann_steering_controller_userdoc>` - with two seering and two drive joints.
-
-
-
-Description of controller's interfaces
---------------------------------------
-
-References (from a preceding controller)
-,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,,
-- <controller_name>/linear/velocity      [double]  # in [m/s]
-- <controller_name>/angular/position     [double]  # in [rad]
-
-Commands
-,,,,,,,,,
-``front_steering == true``
-
-- <front_wheels_names[i]>/position     [double]  # in [rad]
-- <rear_wheels_names[i]>/velocity      [double]  # in [m/s]
-
-``front_steering == false``
-
-- <front_wheels_names[i]>/velocity     [double]  # in [m/s]
-- <rear_wheels_names[i]>/position      [double]  # in [rad]
-
-States
-,,,,,,,
-``position_feedback == true`` --> ``TRACTION_FEEDBACK_TYPE = position``
-``position_feedback == false`` --> ``TRACTION_FEEDBACK_TYPE = velocity``
-
-``front_steering == true``
-
-- <front_wheels_names[i]>/position                  [double]  # in [rad]
-- <rear_wheels_names[i]>/<TRACTION_FEEDBACK_TYPE>   [double]  # in [m] or [m/s]
-
-``front_steering == false``
-
-- <front_wheels_names[i]>/<TRACTION_FEEDBACK_TYPE>  [double]  # [m] or [m/s]
-- <rear_wheels_names[i]>/position                   [double]  # in [rad]
-
-Subscribers
-,,,,,,,,,,,,
-Used when controller is not in chained mode (``in_chained_mode == false``).
-
-- <controller_name>/reference  [geometry_msgs/msg/TwistStamped]
-  **NOTE**: Parameter ``use_stamped_vel`` is ``true``.
-- <controller_name>/reference_unstamped   [geometry_msgs/msg/Twist]
-  **NOTE**: Parameter ``use_stamped_vel`` is ``true``.
-
-Publishers
-,,,,,,,,,,,
-- <controller_name>/odometry          [nav_msgs/msg/Odometry]
-- <controller_name>/tf_odometry       [tf2_msgs/msg/TFMessage]
-- <controller_name>/controller_state  [control_msgs/msg/SteeringControllerStatus]
-
-Parameters
-,,,,,,,,,,,
-
-For list of parameters and their meaning YAML file in the ``src`` folder of the controller's package.
-
-For an exameplary parameterization see the ``test`` folder of the controller's package.