ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

You have misunderstood the sensor data that the diff_drive_controller needs. It normally reads from a JointStateInterface. A joint state interface has information about individual wheels: the (angular) position of the wheel shaft and the rotational velocity of the wheel shaft. The JointStateInterace contains a separate entry for each driven wheel on the robot. The urdf provides the physical position info between each wheel and base_link of the robot..

The diff_drive_controller will do all the other calculations that it needs.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2