wrong claculations at roboteq_motor_controller_driver_node.cpp

[noam7777]

there is a wrong calculation of the command to the motors.
what you have now:

void Driver::cmd_vel_callback(const geometry_msgs::Twist& msg){
std::stringstream cmd_sub;
cmd_sub << "!G 1" << " " << msg.linear.x << "" << "!G 2" << " " << msg.angular.z << "";

	ser.write(cmd_sub.str());
ROS_INFO_STREAM(cmd_sub.str());	

}
void Driver::roboteq_subscriber(){
ros::NodeHandle n;
cmd_vel_sub = n.subscribe("/cmd_vel",10,&Driver::cmd_vel_callback,this);

}

void Driver::roboteq_subscriber(){
ros::NodeHandle n;
cmd_vel_sub = n.subscribe("/cmd_vel",10,&Driver::cmd_vel_callback,this);

}

and what you need is
void Driver::cmd_vel_callback(const geometry_msgs::Twist& msg){
std::stringstream cmd_sub;
double cmd_left, cmd_right;
int kW = 1; //TODO:gemotrical property of the robot(width,radius)
cmd_left = msg.linear.x-msg.angular.zkW;
cmd_right = msg.linear.x+msg.angular.zkW;
cmd_sub << "!G 1" << " " << cmd_left << "" << "!G 2" << " " << cmd_right << "";

	ser.write(cmd_sub.str());
ROS_INFO_STREAM(cmd_sub.str());	

}
void Driver::roboteq_subscriber(){
ros::NodeHandle n;
cmd_vel_sub = n.subscribe("/cmd_vel",10,&Driver::cmd_vel_callback,this);

}

this is a more logical way to calculate the angular velocity to the wheels then before

[zhughesjd]

@noam7777
After reading:

http://wiki.ros.org/simple_drive#Twist_to_Tank_Calculation

I found that the code below did the trick for skid steer type vehicles.

void Driver::cmd_vel_callback(const geometry_msgs::Twist& msg)
{
std::stringstream cmd_sub;
double cmd_left, cmd_right;
cmd_left = msg.linear.x-msg.angular.z;
cmd_right = msg.linear.x+msg.angular.z;
cmd_sub << "!G 1" << " " << cmd_left << "_" << "!G 2" << " " << cmd_right << "_";
ser.write(cmd_sub.str());
ROS_INFO_STREAM(cmd_sub.str());
}