velocity duty mode - Githubissues

sbgisen / vesc

VESC Interface for ROS

Apache License 2.0

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velocity duty mode #50

Closed jsupratman13 closed 1 year ago

jsupratman13 commented 1 year ago

Change Summary

Added velocity duty command mode for controlling wheel-type vesc motor with duty cycle.
Added sample launch file to test velocity duty command.
Check robot's urdf joint type and normalize position between -PI ~ PI if the joint type is revolute.
- Optionally added joint_type parameter to override urdf

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