Hello, first of all excuse my bad english, i don't if i'm in the good section or no. I'm working on a turtlebot 2 project. my subject is to make a PID controller of the robot to control each wheel i started with a trajectory pathing where i estimate the error after that, i managed to find the expression of the velocity ( angular and linear ) from the errors now i am modeling the dynamical of the robot but **i need a connexion between the velocities and the torque of the wheels ( left and right ) if its possible** because i can't find other way to model it i'm working with simulink to do my project and after i will implant it directlly in the turtlebot 2 Thank you --- [Visit Topic](https://discourse.ros.org/t/need-help-im-working-on-a-turtelbot-project/1032/1) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: