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Well I found some more stuff for it now and I made a little working example, well sharing is caring, here you go:

https://github.com/cyborg-x1/ros_control_test

(Only thing not working is somehow the covariance matrix for the Imu sensor, It just takes one value for me in the message.)

I read the code there but it actually should work, wonder why it does not ...

My other questions: Yep it seems to run without realtime kernel.

And I think now, after I completely saw the setup and everything and now I think it is suitable for my purpose.

Well I found some more stuff for it now and I made a little working example, well sharing is caring, here you go:

https://github.com/cyborg-x1/ros_control_test

(Only thing not working is somehow the covariance matrix for the Imu sensor, It just takes one value for me in the message.)

I read the code there but it actually should work, wonder why it does not ...

My other questions: Yep it seems to run without realtime kernel.

And kernel. I think now, after I completely saw the setup and everything and now I think everything, it is suitable for my purpose.