Use diff_drive_controller with voltage controlled motors

[fjp]

I am working on a real differential drive robot with two motors (wheel joints/actuators) that operate with effort (voltage) values.

Is it possible to use diff_drive_controller from ROS control with these effort controlled motors? The documentation says that diff_drive_controller works with a VelocityJointInterface and not with EffortJointInterface.

Does this mean that in my hardware_interface, I have to translate the velocity commands from the controller into effort commands for the motors? And similar for reading encoder feedback: read encoder ticks and convert them to velocity?

[Bence Magyar]

Hi Franz,

Please keep in mind that this mailing list is probably quite empty by now.

I can reply though: yes and yes. Personally I consider effort to be a bit of a shapeshifter, some people use it as force, some use it for voltage...

Cheers,

Bence

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