1. Description
If you are building a mobile robot for use with ROS/ROS2, the first thing you need to do is integrate a motor controller. The purpose of the motor controller is to accept messages from higher level software (such as the navigation stack) and convert them into signals to drive the motors. It will also receive information from the motor's encoders to calculate the speed and position of the robot. You have precise control over the robot's wheels, which follow changes in battery voltage and terrain. interested? We'll cover everything you need to know to make a ROS motor controller for a typical diff-driven robot, and give you working code you can use as a reference!