DiffDriveController output for the wheels? [closed]

edit

Hi,

I am using DiffDriveController (ros_control) to control a differential drive robot (Jetbot). Currently I am controlling the robot with turtlebot3's teleop_key package.

I get the /my_namespace/left_wheel_vel and right_wheel_vel topic updates when I press w/x or a/d, I can see that the linear vel and angular vel changes.

I can also see, that the right_wheel_vel and left_wheel_vel changes as well, so I guess, the controller is working (params should be fine for the wheel_separation and wheel_diameter).

However I can not find any documentation telling, what is this number? Is this an RPM? Is this encoder ticks? (if so, where can I configure the encoder itself, because it is not even installed yet). Or something else?

I am using (because it is provided by jetbot) Adafruit_MotorHAT to control the motors. The input of a motor is RPM in this case and I can write the driver to subscribe to left_wheel_vel and right_wheel_vel and set their speed accordingly, but maybe I will need ( do I need? ) to convert this values to RPM.

Could someone please help me in this?

I gave up using jetbot_diff_drive package (it was full with not working things) and I am trying to start my project "from scratch" based on https://github.com/eborghi10/my_ROS_m... (which seems to be a much better, clearer example).

The simulation seems to be OK, my model is included into Gazebo and RVIZ, the controllers are there, the current question is basically, how to usitlize the output of the controller on the hw?

Thanks in advance! Balint