SpiderCam_Raspi

Raspberry Pi Controls for the Arbotix-M & AX-12W Dynamixel ServoMotor

arduino_sketch :

Arbotix Driver, receives velocity commands from ROS (/cmd_vel_approved)

cmd_vel_controller :

Receives main velocity commands (/cmd_vel_out), extracts correct velocity, applies safety checks and publishes to /cmd_vel_approved