How to implement control of Husky robot using voltage of motors or rotation of wheels directly?
I am trying to control the rotation speed of Husky's wheels directly rather than linear and angular velocities of the robot. Is that possible and how it can be implemented?
What type of ros node is subscribed to the
cmd_vel
topic?ROS node /twist_mux is subscribed to the cmd_vel
OK, what type of node follows the twist_mux?
twist_mux publishes /husky_velocity_controller/cmd_vel which is subscribed by node husky_node. husky_node publishes the following topics * /diagnostics [diagnostic_msgs/DiagnosticArray] * /husky_velocity_controller/odom [nav_msgs/Odometry] * /husky_velocity_controller/parameter_descriptions [dynamic_reconfigure/ConfigDescription] * /husky_velocity_controller/parameter_updates [dynamic_reconfigure/Config] * /joint_states [sensor_msgs/JointState] * /rosout [rosgraph_msgs/Log] * /status [husky_msgs/HuskyStatus] * /tf [tf/tfMessage]