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How to make the Turtlebot rotate in place a set # of degrees/radians

asked 2012-01-08 03:25:01 -0600

guzza
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I looked at the geometry_msgs::Twist class but that allows you to only set the velocity of a turn. I want to make the turtlebot slowly rotate in place a set number of radians/degrees on command.

Thanks!

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answered 2012-01-08 04:36:04 -0600

joq
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Keep sending a Twist messages with your desired yaw rate (angular.z in radians/sec) until it reaches the desired heading. Then, start sending Twist with a zero yaw rate.

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Thanks this worked out!

guzza ( 2012-01-09 13:20:37 -0600 )edit

I have the same question. I wonder if it's possible to send the desired radian/degree as a parameter to the programme? So that when I run the script it automatically rotates a desired degree.

Elizaveta.Elagina ( 2015-02-12 09:23:49 -0600 )edit

Maybe I didn't get your advice right, but how do I fixate the moment it reached the desired heading given that I set only the velocity?

Elizaveta.Elagina ( 2015-02-12 09:24:27 -0600 )edit

You need some feedback, probably from an Odometry message.