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jfstepha / differential-drive

Automatically exported from code.google.com/p/differential-drive
GNU General Public License v3.0
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PID velocity #10

Open ghost opened 4 years ago

ghost commented 4 years ago

Hi! The PID velocity node is a little confusing compared to the differential drive that you imitated. The diagram states that is should be able to connect to an lwheel and an rwheel topic and send data accordingly, however, it looks like it only publishes on the wheel topic. I might not be understanding the system as well as I thought, but any clarification would be great! Thank you.

WCjai commented 3 years ago

me too man little confusion

AtharvaBhorpe commented 3 years ago

Even I'm trying to use it in my project. I think we have to make a copy of pid_velocity.py for the two wheels separately and create different topics for the left and right wheels instead. Also, I'm trying to use it in ROS Noetic. Have you found any solutions yet..?

AlperenKosem commented 2 years ago

pid_velocity.py is the base script. Topics are set in the launch file for each wheel as below:

<remap from="wheel" to="rwheel"/> <remap from="motor_cmd" to="rmotor_cmd"/> <remap from="wheel_vtarget" to="rwheel_vtarget"/> <remap from="wheel_vel" to="rwheel_vel"/>