Params

The main parameters required to run your roboteq_control are below

# general configuration
mixing: 0
break_delay: 250
over_voltage_limit: 30.0
over_voltage_hysteresis: 5.0
under_voltage_limit: 5.0
pwm_frequency: 16.0
# Definition motors
joint: [left_joint, right_joint]

Where joint is a list of joints defined in your urdf where are defined your wheels

Remember that in your urdf must be defined type="continuous" follow this links:

• ros_control
• urdf