Diff Drive control hardware interface

asked 2019-11-22 10:32:48 -0500

makemelive gravatar image

Hello, i am building a mobile manipulator and i have arleady written a hardware interface for my arm, I am a bit confused, on how to write the hardware interface for the differential controller my communication is with rosserial-arduino and i can get the encoder values (e.g 33000 ticks per meter) in the read() do i need joint_position_ = angle ?? joint_velocity_ = angle/time??

in the write() i can just get joint_velocity_command_ and publish it to arduino? also i think there is a bug with the controller not publishing joint states for the wheels is that still the case?

my code https://github.com/panagelak/Open_Mob...

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