ROS has a ton of built-in packages to make it so that you don’t have to do math. When I was first studying robotics, I was blown away by how much math was required to just control a two-wheel differential drive robot. Kinematics, PID control, and everything in-between meant that I spent a lot of time solving problems that were already solved. This is the beauty of ROS.

ros_control is another one of those packages that allows you to focus your time on problems specific to your robot — the problems that haven’t solved. Well, sort of. Unfortunately, I found…

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