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There are few mistakes in your code :
You shouldn't initialize the publisher inside the callback it can create errors. Initialize it in the main function.
You don't have to subscribe to any topic if you only want to publish a speed command.
You are trying to publish data on the topic "/gazebo" but it's actually the name of the gazebo node so it cannot work.
Since you have a cmd_vel multiplexer you can publish data on the topic /cmd_vel
OR /mobile_base/commands/velocity
You should set vel_msg.linear.x
to some value (1 for example) to directly see your robot moving (it will be easier for you to debug)
It should work fine with those change.