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.

How to use diff_drive_controller form ros_control

asked 2018-08-10 13:33:58 -0500

Prof. xavier
35 ●16 ●20 ●25

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.

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2022-12-20 16:11:41 -0500

Roberto Z.
500 ●7 ●41 ●26

updated 2022-12-20 16:12:55 -0500

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.

edit flag offensive delete link

add a comment

Question Tools

2 followers

Stats

Asked: 2018-08-10 13:33:58 -0500

Seen: 294 times

Last updated: Dec 20 '22

How to use diff_drive_controller form ros_control edit

1 Answer

Question Tools

Stats

Related questions

How to use diff_drive_controller form ros_control