Does anyone use phidget pkg of phidgets driver pkg to see the feedback of encoder in ros? Now I have the phidgets encoder hardware ( http://www.phidgets.com/products.php?product_id=1047_0) and a DC motor with encoder. I want to see the feedback of ros side when running some phidgets node ? which one do I need to choose? 1: http://wiki.ros.org/phidgets 2:http://wiki.ros.org/phidgets_drivers Hope can get some hints from you guys. Thanks!!