February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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Checking the X, Y, and Z axes of GoPiGo3
Now, you will apply what you have learned to practically find the X, Y, and Z axes of your robot and their positive and negative direction. Apply the following command in T1 and make sure you're ready with T2 to stop it afterward to avoid the robot crashing into any obstacles:
T1 $ rostopic pub /cmd_vel geometry_msgs/Twist 'linear: {x: 0.1}'T2 $ rostopic pub /cmd_vel geometry_msgs/Twist 'linear: {x: 0}'
You should see GoPiGo3 advancing forward, that is, the distance sensor facing forward while the caster wheel is facing back. For the negative X axis, change the sign of the linear speed:
T1 $ rostopic pub /cmd_vel geometry_msgs/Twist 'linear: {x: -0.1}'T2 $ rostopic pub /cmd_vel geometry_msgs/Twist ...Become an O’Reilly member and get unlimited access to this title plus top books and audiobooks from O’Reilly and nearly 200 top publishers, thousands of courses curated by job role, 150+ live events each month,
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