In my set-up, ros_control (http://wiki.ros.org/ros_control) on RPi receives join position / velocity commands. Then RPi relays updates/state requests to Arduino over a serial link. When commands are received, Arduino uses Pololu API to set/get parameters on Mini Maestro servo controller. Same thing for VNH5019 motor driver. ros_control and controller packages are pretty good. For now, I abandoned the use of rosserial and use a custom protocol and serial I/O between RPi and Arduino. Actually, I just wrote a blog post about it, if interested take a look at blog.boltrobotics.com. Cheeres --- [Visit Topic](https://discourse.ros.org/t/project-wayfarer/3659/3) 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: