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griswaldbrooks / c3pzero

Monorepo for c3pzero mobile base.
MIT License
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Port ROS1 driver to ROS2 #10

Open griswaldbrooks opened 2 years ago

griswaldbrooks commented 2 years ago

Use Case

As we're trying to use nav2, we need to have a ROS2 driver.

Acceptance Criteria

GIVEN a tuned roboclaw and motors with encoders AND the ROS2 driver is running WHEN publishing to cmd_vel THEN the motor should turn at the commanded rate

Notes

If we publish this driver, we should publicly attribute who we ported it from, as we shouldn't be changing it to much in this phase. Long term though (if there is such a thing) the code base would likely diverge.

griswaldbrooks commented 2 years ago

This task has become "Create ROS2 driver"