I am trying to use steered wheel base controller for my four wheeled mobile base. I was trying to implement steering joints as position controlled and axle joints as velocity controlled.
My problem is, while publishing cmd_vel , axle joints are not working. Velocity command from ros control is always outputs as zero. But steering joints which uses position control is working when I published yaw velocity.
Is it problem with velocity control I implemented or it is a problem with steered base controller ?
What all things I need to taken care while setting control frequency of controller manager?
Post score: 1