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How to use diff_drive_controller form ros_control

asked 2018-08-10 13:33:58 -0600

Prof. xavier
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Hello, I am still confused with how to exactly use differential drive controllers from ros_control. I have a raspberry pi running 2 wheels, I understand that the controller will take twist msgs which is described in the documentation, I am just confused about how to take out the velocity commands for individual wheels, as there is no published topics for those, please guide me here or direct to a direction. Thanks in advance.

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answered 2022-12-20 16:11:41 -0600

Roberto Z.
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updated 2022-12-20 16:12:55 -0600

The documentation states that ros_control's diff_drive_controller works with wheel joints through a velocity interface. You have to implement a ros_control hardware_interface that interacts with the motor driver and wheel encoders of each individual wheel. This hardware interface can send commands to each individual wheel using the SDK or library provided by the hardware vendor.

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Asked: 2018-08-10 13:33:58 -0600

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Last updated: Dec 20 '22

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How to use diff_drive_controller form ros_control