From Jon Stephan on 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: http://www.ros.org/wiki/differential_drive
My hacked K'nex robot is an example using this package: http://code.google.com/p/knex-ros/wiki/ProjectOverview
This is my first released package, I hope someone out there finds it useful.
Thanks,
-Jon
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