diff_drive_controller without wheel encoders?

asked 2019-07-23 11:13:26 -0500

levi.starrett gravatar image

I'm working on a skid steer style robot, and I would like to use the diff_drive_controller to control the drive system (including acceleration limits). The robot uses a fusion of GPS and IMU data to get localization but does not have wheel encoders. I'm new to ROS and ros_control. Is there a way to implement the controller without wheel encoders for the joint state?

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Did you ever find an easy solution to this?

Mohit Arvind Khakharia gravatar image Mohit Arvind Khakharia  ( 2020-11-22 10:44:08 -0500 )edit