Each motors should have the option to be controlled individually through ROS topics (speed in rpm).
Implement one of the two feature:
- Create a parameter to choose the control method, either using /cmd_vel or individual motor speed (only one callbacks at a time).
- Multiplex input from /cmd_vel and individual motor speed callbacks to output a single stream to roboteq driver.
Each motors should have the option to be controlled individually through ROS topics (speed in rpm).
Implement one of the two feature: