[Solved] Acceleration setpoint/Virtual Force


I was looking into the new firmware and was wondering if it would be possible to set an acceleration setpoint with some tweaking/hacking.
Either the ROSbot would react as if a virtual force was acting on it (I.E. the input would be Force.x, Torque.z), or it would be an acceleration setpoint \ddot{x}, \ddot{\theta}.

I saw there is an option for DUTY_CYCLE speed mode, which directly sets the motor power. Could this be used?


I will first integrate the desired acceleration to obtain desired velocity to be published cmd_vel. Hopefully this does not build up an error over time. This is at least a lot easier than editing the firmware.