Accessing Encoders

Working with Leo through university, trying to get data from the wheels. I can move the machine through cmd_vel, but can’t as of yet control or communicate with a wheel independently. Any help? I apologise, I’m aware it’s kind of basic.

@Blazej_Sowa Can you help here?

For now, the firmware only allows to control the wheels through cmd_vel messages. To get some information back, you can listen on /joint_states topic, where for each wheel there is a position (in radians), velocity (in radians per second) and effort (in PWM duty).

To control each wheel independently from the Raspberry Pi or get more detailed encoder feedback, you need to modify the firmware.

Let me know what are your expectations. Depending on the complexity I could probably implement it in the future firmware release.