Can I replace Hardware_interface to send velocity to a PLC?
hello,
I'm planning on writing a hardware_interface in order to send velocity commands to codesys following this question https://answers.ros.org/question/3075... but I don't quite understand how to read from the diff_drive both wheels velocities and send them to my plc.
I want to know if is it possible to replace the hardware_interface with just a node that subscribes to cmd_vel and publishes or sends the converted values (from rad/s to rpm for example) directly to codesys.