Add 'srv' service handler to reset the encoders.

wimblerobotics / ros2_roboclaw_driver

A driver for the RoboClaw family of devices for use under ROS2

MIT License

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Open wimblerobotics opened 3 years ago

wimblerobotics commented 3 years ago

This issues a set encoder values request to the RoboClaw, setting the value to zero. This is useful to deal with counter overflow.

wimblerobotics commented 3 years ago

Note that at 2500 quadrature pulses per second, the counter could overflow in as little as 9 days (overflowing (2**32)/2)