This node is designed to provide a ros2_control hardware interface for an Arduino running firmware from ros_arduino_bridge. It is designed to be used with a diff_drive_controller from ros2_control. It is expected to communicate via serial and to have two motors, each with velocity control and position/velocity feedback.

It is based on the diffbot example from ros2_control demos.

For a tutorial on how to develop a hardware interface like this, check out the video below:

https://youtu.be/J02jEKawE5U

• Document changes from earlier versions
• Document usage and parameters
• Clean up remaining connections to original demo code
• Add license etc (in the meantime, do whatever you want with it)