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rm-controls
Electronic Control Solutions
A set of PC-running, PC-free, all-in-one software and supporting hardware, ros-controls-based hardware and simulation interfaces, and supporting controllers for the development of RoboMaster robots and high-performance robots.
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You can learn how to use rm-controls in simulation and in reality with the commonly used RM3508 motors on hand; if you find individual motors too simple, try manipulating McNamee wheels and rudder wheel chassis in simulation
Using in simulation and in actual 3508
Control McNamee wheels and rudder wheel chassis in Gazebo