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ros_control and hardware interface.

asked 2016-02-15 05:57:52 -0600

Gokul gravatar image

I am using diff_drive control package from ros_control.I have two dynamixel motors.How to register the motor with the hardware interface of ros_control and how to publish the velocity commands to dynamixel motor from diff_drive_controller I am a newbie.So please explain me with the code.

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answered 2016-02-16 08:27:27 -0600

Akif gravatar image

Did you check the ros_control wiki? Though not an extensive wiki, it provides some basic information.

Also you can check Dave's ros_control_boilerplate as your starting template.

And for general information, you can watch Adolfo's ROSCON 14 talk on ros_control.

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answered 2021-10-07 05:09:35 -0600

fjp gravatar image

You probably don't needed this answer anymore. But for anyone else:

The open source project I am working on uses diff_drive_controller from ROS Control: https://ros-mobile-robots.com/. The current robot model is based on Nvidia Jetbot including a 3D printable platform for RPLidar A2. I am using the DG01D-E motors (sparkfun) which include quadrature wheel encoders (542 ticks).

You can find the ROS Control hardware interface here. The "high level hardware interface" from ROS Control is communicating with the "low level base_controller" via custom messages, see also the related msgs package. The low level code, running on the microcontroller and implementing two PID controllers (one for each wheel), is in the diffbot_base/scripts/base_controller package.

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Asked: 2016-02-15 05:57:52 -0600

Seen: 526 times

Last updated: Oct 07 '21