where is the controller from /cmd_vel to the force applied to robot?
It seems to me that what ros provides us to control a robot is the expected velocity /cmd_vel, but from this signal to real force/torque applied to the robot, there must be a controller there. Can someone tell me in which file I can see this controller? Thanks.
Actually, I'm not dealing with hardware yet. I mean the pure simulation. e.g. the husky simulator, the /cmd_vel finally goes to the gazebo husky model, and the gazebo model returns the effect of the control. in the rqt_graph i can see the there is a controller between the /cmd_vel and gazebo, but i just cannot find the file which describes it.
add a comment
