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Question about turtle_teleop_key

Hi. Can anyone help me and see this programing. http://code.metager.de/source/xref/ros/tutorials/turtlesim/tutorials/teleop_turtle_key.cpp#vel_pub_ My question is What ascale and lscale stand for? And in Switch(c). Why value of angular and linear are all 1.0 rather than 2.0. Thank you very much!

Asked by TTTaurus on 2015-05-31 02:46:29 UTC

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a_scale and l_scale are the magnitude of the velocity. When you increase the values the speed will increase as well. Also "a" stands for angular and "l" stands for linear scales.

Asked by MahsaP on 2015-06-03 17:38:14 UTC

Answers

nh_.param("scale_angular", a_scale_, a_scale_);
nh_.param("scale_linear", l_scale_, l_scale_);

They are used to change how much the robot moves by when the keys are pressed, the base velocity values are multiplied by this before the message is sent.

turtlesim::Velocity vel;
    vel.angular = a_scale_*angular_;
    vel.linear = l_scale_*linear_;

Asked by nickw on 2015-05-31 04:15:23 UTC

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