New Package: differential_drive

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From Jon Stephan on ROS Users

Hi ROS users,

I'd like to announce the differential_drive package.  This provides some of the low level nodes needed to interface a differential drive robot to the navigation stack.  I think this will be especially useful for beginning hobby roboticists like myself, and it provides the following nodes:
  • diff_tf - Provides the base_link transform.
  • pid_velocity - A basic PID controller with a velocity target.
  • twist_to_motors - Translates a twist to two motor velocity targets
  • virtual_joystick - A small GUI to control the robot.

The ROS wiki page (with links to tutorials) can be found here:

My hacked K'nex robot is an example using this package:

This is my first released package, I hope someone out there finds it useful.


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This page contains a single entry by Tully Foote published on February 20, 2013 5:20 PM.

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