Mind to share where you got the encoders from? I still have the original four motors from my wt chassis (4wd) and like to equip them with encoders. Also, what is the problem discussing a full implementation of a ROS base controller here? For Rud_Merriam: Do you already have a speed control and odometry for your robot? --- [Visit Topic](https://discourse.ros.org/t/project-wayfarer/3659/6) 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: