This node is designed to provide a ros2_control hardware interface for an Arduino running firmware from ros_arduino_bridge.
It is designed to be used with a diff_drive_controller from ros2_control.
It is expected to communicate via serial and to have two motors, each with velocity control and position/velocity feedback.
It is based on the diffbot example from ros2_control demos.
For a tutorial on how to develop a hardware interface like this, check out the video below:
- Document changes from earlier versions
- Document usage and parameters
- Clean up remaining connections to original demo code
- Add license etc (in the meantime, do whatever you want with it)