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Added the ability to switch between cmd_vel control and induvidual motor control

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Pimpest committed 2026-02-09 15:08:12 +01:00
1 parent e00d927a55
commit 17d19e393f
7 files changed
+87 -13
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toid_control/params/toid_general_params.yaml
+9
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@@ -6,6 +6,15 @@ controller_manager:
type: diff_drive_controller/DiffDriveController
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
velocity_controller:
type: forward_command_controller/ForwardCommandController
velocity_controller:
ros__parameters:
joints:
- drivewhl_l_joint
- drivewhl_r_joint
interface_name: velocity
diffdrive_controller:
ros__parameters: