Revision history [back]

Thanks so much, I more or less find the reason, it looks I shall publish the linear/angular volecity control message immediately after set these value so the rbot can act in time, otherwise there will be big error exist.

But your suggestion is also vey valueable--which is just what I am doing fine tuning!! i.e. how to make the controlling precisely when robot move to near the "target"--should be predict and slow down the speed rather than brake...

I will put my current code in next answer.

Thanks so much, I more or less find the reason, it looks I shall publish the linear/angular volecity control message immediately after set these value so the rbot can act in time, otherwise there will be big error exist.

But your suggestion is also vey valueable--which is just what I am doing doingfor a little fine tuning!! i.e. how to make the controlling precisely when robot move to near the "target"--should be predict and slow down the speed rather than brake...

I will put my current code in next answer.