ros2_control Closed-Loop Drive Base

Goal

Configure ros2_control and wheel controllers from cmd_vel to encoder feedback.

Procedure

1. Define hardware interfaces.
2. Load the differential-drive controller.
3. Send a low-speed cmd_vel.
4. Check wheel states and odometry feedback.

Verification

Record the command output, confirm the expected ROS 2 topic or behaviour, and resolve power, TF and device-permission errors before continuing.