how to use diff_drive_controller

asked 2014-11-06 13:28:39 -0500

Fullmetal99012
41 ●3 ●5 ●5

I have installed ros_control, ros_controllers, and diff_drive_controller under ROS indigo. however, I am having issues getting the diff_drive_controller node to rosrun.

normally i can tab complete the node executable (e.g rosrun joy joy_node). however, diff drive does not allow autocomplete, and doesn't seem to have an executable. perhaps I have missed something that needs to be set up, but i've read the wiki page a few times and haven't found anything outstanding that would seem to break the install.

answered 2014-11-07 02:37:41 -0500

Adolfo Rodriguez T

3907 ●28 ●45 ●71

diff_drive_controller is not a node, it is a controller_manager plugin. In order to use it, there should be a ros node with a controller_manager managing your robot's resources. There are out-of-the-box plugins for doing this in Gazebo (see the gazebo_ros_control package), while if you want to have this running on real hardware you'll need to expose your robot to ros_control first.

You can find a high-level overview of ros_control in the ROSCON 2014 program. It's the second talk here.

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hi Adolfo Rodriguez T .. i already use diff_drive_controller in my simulation it works good. But now i want to implement it on real robot.i don't know how i use it with real robot because i want to publish cmd_vel to real robot and i don't know how to makr driver for this.please help me. on ros wiki