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Robot Operating System Cookbook by Kumar Bipin

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Base controller

One of the crucial components of the navigation stack is a base controller. It is the only way to effectively control a robot that communicates directly with the hardware of the robot. However, ROS does not provide any common base controller, and so we have to develop a base controller for our mobile robot platform.

The base controller must subscribe to a topic with the name /cmd_vel, which has the message type /geometry_msgs::Twist. This message can also be used on the odometry message that we saw before. As well as this, the base controller has to generate the correct commands for the robot platform with the correct linear and angular velocities.

We can recall the structure of this message by typing the following command ...

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