MoffKalast / diff_drive_simple

A basic diff drive node.

Simple Diff Drive

A simpler alternative to the diff_drive_controller, for diff drive robots where wheel/propeller slip makes it it pointless to bother with that. E.g. boats, airboats, tanks, etc.

Params

Note that min speed should be less or equal to max speed.

<node name="diff_drive_node" pkg="diff_drive_simple" type="diff_drive.py" output="screen">
	<param name="min_speed" value="0.15" />
	<param name="max_speed" value="0.45" />
</node>

Subscribed Topics

• /cmd_vel (Twist), the velocity that needs to be muxed from linear.x and angular.z

Published Topics

• /diff_drive (JointState), publishes velocity for both wheels/propellers

Dynamic Reconfigure Config

• max_speed (double_t), wheel velocity will be capped at this value

• min_speed (double_t), non-zero messages won't go slower than this to prevent motor stall