How to use imu_sensor_controller with ros_control?

asked 2020-10-27 11:31:39 -0600

MJana gravatar image

updated 2020-10-28 11:44:06 -0600

Hi!

I 'm building a diffierential drive robot for my thesis using ROS. I'm using ROS Melodic on Ubuntu. I'm trying to use ros_control for interfacing betweeen hardware and software but I do not know how to use exactly ImuSensorInterface in my robotHW class. I tried to search for some example, but I didn't find solution yet.

  1. Could you give me some base points for it?
  2. How to register the ImuSensorInterface?
  3. What is the ImuSensorInterface::getHandle resource parameter?
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