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interfacing hardware with diff_drive_controller

asked 2018-08-15 21:10:39 -0600

ShehabAldeen gravatar image

Hello,

I am building a differential drive robot and I want to exploit the power of the diff_drive_controller

but I have faced a couple of problems to interface my hardware to the controller I am using a tiva c launchpad as my embedded board but the real problem is, where can I get the velocity output of each wheel from the controller then I can transfer it with the appropriate method to the motors?

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answered 2018-08-16 03:09:51 -0600

billy gravatar image

You're in luck as someone has addressed it for you: http://wiki.ros.org/rosserial_tivac

Go through the info and ask again if you get stuck,

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Yup I know about this rosserial_tivac but if you can help me with getting the output of the controller I couldn't understand how can I get the velocity command output there is no such topic published for each wheel so I can transfer it to the tivac

I appreciate your time and help

ShehabAldeen gravatar image ShehabAldeen  ( 2018-08-16 09:51:51 -0600 )edit

after a good research I have found that I should write a hardware_interface in order to take the cmd values for each wheel and give feedback of each one as well then I can expose these values to a topic to use rosserial in order to transfer it to the tivac, please correct me if I am wrong

ShehabAldeen gravatar image ShehabAldeen  ( 2018-08-16 15:23:00 -0600 )edit

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Asked: 2018-08-15 21:10:39 -0600

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Last updated: Aug 16 '18