The nxt_controllers package provides a number of Python-based
controllers for two-wheeled diff drive robots. The base
controllers allows you to send velocity commands to a diff drive
base, while the base odometry tracks the pose of a diff drive
robot. The nxt_controllers package also contains a general
purpose joint position controller that commnads a joint to a
desired position by sending effort commands to the joint and
reading the joint encoders.
nxt_controllers is ...