hercules robot

Skid-steer drive robot using hercules chassis.

Requirements

• ROS

Startup

1. Launch skid steer drive interface with motors

rosrun hercules_base encoder_node.py
rosrun hercules_base skid_steer_drive.py

2. Launch ROS closed loop control

roslaunch hercules_control control.launch

3. Launch teleop

sudo ds4drv //connnect to ps4 controller
roslaunch hercules_control teleop.launch