I use ROS Noetic, for an AGV project. I would like to use two controllers/drivers of the same type. In particular, I want to use Roboteqs controllers. In the github there are the packages that is used so that to control roboteq driver (git clone https://github.com/Roboteq-Inc/ROS-Driver.git), and I can use the topics so that to monitor some parameters such the speed, and also using the teleop_twist_keyboard package I can rotate the motor normally, until here all are ok. In the case that I want to connect a second driver, which is the best way to do this? I tried to create two different nodes for each controller, but the topics are the same for both of them, I tries also to create two different packages for the two different controllers but I faced some issues because of the same naming files. So my generally questions are: If I use two different nodes, how can I select the only one node to publish/subscribe to a specific node, as the two nodes have the same topics, for example i want to select to move the first motor using the cmd_vel topic. How can I use two same devices with the same driver//package (here motor/drivers) ? Thank you in advance I tried creating two different nodes but without any succeed. Also I created two different packages but I faced some issues also. Thank you in advance Continue reading...
