How to use diff_drive_controller form ros_control

asked 2018-08-10 13:33:58 -0500

Prof. xavier gravatar image

Hello, I am still confused with how to exactly use differential drive controllers from ros_control. I have a raspberry pi running 2 wheels, I understand that the controller will take twist msgs which is described in the documentation, I am just confused about how to take out the velocity commands for individual wheels, as there is no published topics for those, please guide me here or direct to a direction. Thanks in advance.

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