Units of hardware_interface::VelocityJointInterface

asked 2017-01-20 07:57:11 -0500

antipattern gravatar image


what are the VelocityJointInterface's command's units? I am using two such interfaces on my robot class but I can't make sense of the data I get.

For example, I am using a DiffDriveController. My wheels have a radius of 4.5cm and I set the forward speed to 1m/s (x component of the cmd_vel linear velocity set to 1). With these parameters the command-values are set to 55, which does not make sense if I assume the unit to be rad/s, m/s, frequency or rpm.

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