February 2020
Intermediate to advanced
432 pages
10h 50m
English
Content preview from Hands-On ROS for Robotics Programming
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Using /cmd_vel to directly drive GoPiGo3
Previously, we focused on the end user's perspective of controlling the robot, that is, keyboard strokes or mouse clicks and displacement. Now, we are going to discover how to achieve the same kind of control from the developer's perspective, which is the one you need to build new applications in ROS. Let's get started:
- Rotate the robot at a 1 rad/s rate by publishing a message from the command line. Remember that the gopigo3 node must be running in the robot:
T1 $ rostopic pub /cmd_vel geometry_msgs/Twist 'angular: {z: 1}' publishing and latching message. Press ctrl-C to terminate
- As soon as you enter the command, apart from seeing GoPiGo3 rotating left (counter-clockwise), you will receive the ...
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