Custom baud and units configuration ?

[LiohAu]

Hello,

I'm trying to use your driver and I saw that you are not using the default 9600 baud speed, so I assume that you have changed it using DEScribe software ? Is there a reason for not keeping the default ?

Also, did you use custom units ? Right now I'm sending a single cmd_vel message with lin.x = 0.0.1 m/s, the ros controller which i'm using output a 0,2 command (which I guess is a rad/s speed because it uses the wheel diameter -- which is 10cm), and your driver convert this to a "15" speed (because I have a 1:24 motor with a magnetic encoder having +/- 20 ticks, so (0,2 * 480) / (2*pi) = 15..).
I don't really know why but after this first command, it seems that the wheel is really more than what I expected, so I was wondering if that was an unit issue ?

Also after this command I am not able to read from serial anymore... Maybe it's because I don't use the appropriate baud (I will check that asap).

Anyway, thanks for any help :)