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if you look at the picure of http://wiki.ros.org/differential_drive you see that you write a node to red the lmotor and publishes the wheel. and your done.

if you look at the picure of http://wiki.ros.org/differential_drive you see that you write a node to red the lmotor and publishes the wheel. and your done.

as you have an IEC system you may move the PID inside of you PLC. or you motor inverter is already incude a a PID for velocity.

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