ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

If you're trying to figure out what speed to drive your motors at (in m/s):

left_speed_out = cmd_vel.linear.x - cmd_vel.angular.z*ROBOT_WIDTH/2
right_speed_out = cmd_vel.linear.x + cmd_vel.angular.z*ROBOT_WIDTH/2

This assumes that twist.linear.x is your translational speed in m/s, twist.angular.z is your rotational speed in rad/s, and ROBOT_WIDTH is the width between your wheels in m.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2