Low Level Data - Turtlebot 2 [closed]

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Hello,

I need get low level informations about the wheels, like the tension of the motor over it, because my Turtlebots are sliding on the floor. I know this problem it's about the floor's type, but I wanna do my own calibration to correct this mistake on the navigation.

So, someone know how catch information about these low states?

If it already exists please give me the link or information.

Thank you.