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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_;

nh_.param("scale_angular", a_scale_, a_scale_); nh_.param("scale_linear", l_scale_, 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_; a_scale_*angular_; vel.linear = l_scale_linear_; l_scale_*linear_;~~