Additional Motor in EMROS (2WD)
You like to have a third motor in EMROS and here is a first approach:
This implements a third motor called 'auxiliary drive' (respectively 'hoisting drive') that can be controlled from ROS. Specifically it is possible to control the velocity of the motor, but I guess You would prefer the position, isn't it?
So as a next step I want to separate the auxiliary drive from the basecontroller as its own 'device' (=module). Then it will be easy to use the operation mode 'profile position'.