Do I really need to provide the angle of the joints? I am asking because diff_drive_controller seems to use only a velocity interface and no position interface. However, all the examples I've seen so far that implement a hardware_interface ( slaterobotics, eborghi10/my_ROS_mobile_robot) read a position (angle) from the continuous wheel joints. The documentation states that diff_drive_controller works with wheel joints through a velocity interface.I try to measure the odometry with a simple lm393 speed sensor and an encoder disk with 20 slots. Hi, have some questions trying to use the diff_drive_controller from ros_control on a real differential drive robot.
