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Reconsider mode names in Drive msg #2

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mikepurvis opened this issue Jun 3, 2014 · 1 comment
Closed

Reconsider mode names in Drive msg #2

mikepurvis opened this issue Jun 3, 2014 · 1 comment

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@mikepurvis
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MODE_PWM -> MODE_RAW or MODE_VOLTAGE
MODE_SPEED -> MODE_VELOCITY
MODE_TORQUE -> MODE_EFFORT

The latter two are an effort to be more consistent with JointState terminology.

All of this gets muddier when we consider that velocity control of the vehicle should ultimately mean kinematic control with IMU feedback. So MODE_VELOCITY in this context is only specifying the close-loop controlled velocity of the individual motors.
@mikepurvis
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Done via #5.

tonybaltovski pushed a commit that referenced this issue Feb 5, 2020
@seanyen @kejxu
Fix jackal_description install location & fold xacro includes (#2)
2e2f29b 
* Fix install location.

* Fold xacro includes
marco-ambrosio referenced this issue in PIC4SeRPlatforms/jackal Oct 10, 2023
@andreaostuni
Merge pull request #2 from andreaostuni/humble
d83607b 
humble pull
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@mikepurvis