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Adjusted motors, servos, encoder, and aruco nodes to be parametric. Added a control policy skeleton node.

Paul Beuchat requested to merge asc_prep_2024 into master

Adjusted motors, servos, encoder, and aruco nodes to be self-contained and all the key parameters are adjustable from ROS parameters in the launch files. Added a control policy skeleton node to exemplify connecting the key topics to a single node.

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