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I've been trying to use the roboclaw_hardware_interface to connect my roboclaw motors to ros2control. everything is compiling and my diff drive controller and joint state broadcaster are starting, but the robot does not move using teleop or by sending direct cmd_vel messages. When checking the hardware components the below is shown:

$ros2 control list_hardware_components
Hardware Component 1
name:
type:
plugin name:
state: id=3 label=active
command interfaces
right_wheel_joint/velocity [available] [claimed]
left_wheel_joint/velocity [available] [claimed]
Hardware Component 2
name: RealRobot
type: system
plugin name: roboclaw_hardware_interface/RoboClawHardwareInterface
state: id=0 label=unknown
command interfaces

Does anyone know why two Hardware Components are being created?

There is any way how can be read and bring to ros2 the battery info like MainBatteryVoltage provided by the roboclaw controller using the same serial session?

Hello,
Regarding the step2 from Setup & Installation the link to roboclaw_serial library is not functional.
roboclaw_serial library.
Can you update the link or provide an alternative pls.
Thank you,

Hi,
I am in step 2: Install dependencies. I was able to get the roboclaw_serial library but when I ran the ''rosdep install roboclaw_hardware_interface" command, I keep running into the following error.

$ rosdep install roboclaw_hardware_interface

ERROR: Rosdep cannot find all required resources to answer your query
Missing resource roboclaw_hardware_interface

Am I missing something in the documentation? Can you help?

Hi @coxep, I have 2 roboclaws one controlling the 2 forward wheels and another controlling the back wheels, I am trying to connect them in packet serial mode, do you have some documentation shedding light on how to do that?