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Hi everybody, I'm new with ROS and I'm successfully using it together with stage. The next step now is using a real robot but I'd like to use it on unsupported hardware. I'd like to use a robot controlled by a cRIO programmed with LabVIEW connected via ethernet to a PC with ROS. The only thing I want is to control the robot's motion but I can't figure out how the communication protocol works. I'm sure ROS will send on a port the topics cmd_vel and I should be able to intercept these topics on the cRIO side but I don't get how to identify the port, if it is configurable and if it's a problem that the robot controller (the cRIO) is not on the same machine where ROS runs. Can anybody give me a hint? Thanks in advance
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