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You can write your own hw_interface program in either c++ or python where u can add the libraries to read the hardware information or send the motor commands, for eg. u can pigpio or wiring pi library to interface your hardware to your ros controller. Than u can easily use ros control to control any robot you want. Only part which should be modified is the hardware interface where you add the external libraries to communicate the hardware(actuator, encoder) u want as i've understood.

You can write your own hw_interface program in either c++ or python where u can add the libraries to read the hardware information or send the motor commands, for eg. u can pigpio or wiring pi library to interface your hardware to your ros controller. Than u can easily use ros control to control any robot you want. Only part which should be modified is the hardware interface where you add the external libraries generally to communicate the hardware(actuator, encoder) u want as i've understood. .