drive_side_controller

drive_side_controller is a controller in the rover_drive package that relays a single velocity command to multiple joints on one side of the rover. Its pluginlib name is rover_drive/DriveSideController. This controller uses the velocity interface.

Parameters

joints

This is the only parameter in drive_side_controller. It is a list and its contents are the joints to use for this side. Example:

joints:
    - back_left_wheel
    - front_left_wheel

This would make the controller control the back_left_wheel and front_left_wheel with the same command.

Topics

drive_side_controller/cmd

This topic is subscribed to as a Float64 topic containing the current velocity command for all the joints.