Hi, I believe that the answer that you are looking for is in this code: https://github.com/yujinrobot/kobuki_core A Turtlebot2 has a base called Kobuki. Such base is where the controller is located. I did not really check it properly, but I am pretty sure that the specific code that you can use as a reference is there. Check the following files: include/kobuki_driver/modules/diff_drive.hpp and src/driver/diff_drive.cpp If you have problems with the controller, send me a private message ;) --- [Visit Topic](https://discourse.ros.org/t/ros-teleop-package/5062/2) 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: