writing hardware_interface for diff_drive_controller
Hello,
I am building a differential drive robot using the diff_drive_controller and now I am writing the hardware interface for it, there are some problems that I have faced and I hope someone can help me solve it
now the diff_drive_controller should get a feedback from the motor encoders and will send velocity commands to the motors my question is which hardware interface class shall I use out of those? I have found that there is no class like vel_command_interface and vel_state_interface same as the example which written on the wiki here using the joint interface, does that mean that I should use one of the classes which contain a vel command variable and a pos interface variable and consider the other variable as redundant and do not use them?
Hello, have you got ros control up and running on a real custom dif drive robot yet? Im trying to do the same but i have some trouble finding good documentation for this task.