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rotation-shim-controller

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In-place rotation before path following.

Software Engineering#navigation#collision#controller#ros2#rotation#shim#differential-drive
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

The RotationShimController resolves misalignment between the robot's heading and the path direction at the start of a new navigation goal by performing an in-place rotation and then handing off to the chosen primary controller.

Core Features & Use Cases

  • Wraps a primary controller (MPPI, DWB, or RPP) to perform an initial rotation on differential-drive robots for a smoother start.
  • Provides configurable parameters (angular_dist_threshold, forward_sampling_distance, simulate_ahead_time) with a collision-check loop during rotation.
  • Use case: when a new path starts facing a different direction, RotationShim ensures safe, aligned startup before following the path.

Quick Start

Configure the FollowPath plugin to use the RotationShimController with a chosen primary controller and rotation parameters, then issue a new navigation goal to observe in-place alignment before movement.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: rotation-shim-controller
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#rotation-shim-controller

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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