which file implements the husky_velocity_controller?
When I controll the husky simulator, the motion of husky is driven by the /husky_velocity_controller/cmd_vel, I send a cmd_vel topic as expected velocity, the robot moves. But from physics, we know there must be a controller that transform the cmd_vel signal into the force that drives the vehicle. Where can I find the implementation of this controller? in which file? Thanks.
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