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Looks like the linear and angular velocities are converted into a desired speed and radius which is fed over serial port to the kobuki base

https://github.com/yujinrobot/kobuki_core/blob/devel/kobuki_driver/src/driver/diff_drive.cpp#L133-L164

(see void DiffDrive::velocityCommands(const double &vx, const double &wz) if line numbers have changed)

Still unsure what is the exact low level pid implementation on the Kobuki base for controlling left and right motors given the desired speed and radius.

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