Commanding anything else that wheel velocities

[alexswerner]

I'm aware of the velocity interface expose as /cmd_vel. Is there any way to command e.g. motor currents or voltage/PWM? This would be nice as it would allow users to create their own motor controller. Not that this would improve performance, but it would open up the platform for controls experiments/education. We are happily using the create for a robotics class, but would like to extend the usage to controls courses.

As an example application, the robot could traverse from area with hard floor to a carpet area, and this change would need to be deal with by the control.

[alsora]

No, this is currently not possible.
We may consider it as a feature for a future release.