A base controller is an important element in the navigation stack because it is the only way to effectively control your robot. It communicates directly with the electronics of your robot.
ROS does not provide a standard base controller, so you must write a base controller for your mobile platform.
Your robot has to be controlled with the message type
geometry_msgs/Twist. This message is used on the
Odometry message that we have seen before.
So, your base controller must subscribe to a topic with the name
cmd_vel and must generate the correct commands to move the platform with the correct linear and angular velocities.
We are now going to recall the structure of this message. Type the following command in a shell to see ...