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

2026-02-09 15:08:12 +01:00
parent e00d927a55
commit 17d19e393f
7 changed files with 87 additions and 13 deletions
--- a/toid_control/params/toid_general_params.yaml
+++ b/toid_control/params/toid_general_params.yaml
@@ -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: