February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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The motion control topic – /cmd_vel
Now that we've enjoyed playing with the robot, let's understand how this form of control works. The /cmd_vel topic that the gopigo3 node is subscribed to is the key to producing translations and rotations of the robot. Run the rostopic command while having the gopigo3 node running in the robot to retrieve the information from the topic:
T1 $ rostopic info /cmd_vel Type: geometry_msgs/Twist Publishers: None Subscribers: * /gopigo3 (http://gopigo3.local:40605/)
The topic /cmd_vel uses the geometry_msgs/Twist type (64 bits) of the geometry_msgs message library (http://wiki.ros.org/geometry_msgs). This library provides messages for working with geometric primitives: points, vectors, and poses. The command ...
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