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Make sure geometry_msgs::Twist or cmd_vel units

asked 2014-07-07 23:03:01 -0500

domikilo gravatar image

updated 2014-07-07 23:03:23 -0500

Hi all, I have confusion about the unit of geometry_msgs::Twist, are they m/s and rad/s? Because I saw the sample code turltebot teleop as well as kobuki teleop, they setup these parameters equal 1.0 for each press button. However I checked the specification of the turtlebot kobuki in this link , the maximum of linear velocity is just 70 cm/s, if my above opinion is right, the setup parameters in sample code is 100cm/s, it is overload the motor. So what is the true unit of geometry_msgs::Twist or cmd_vel?

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answered 2014-07-08 01:05:17 -0500

Hi,

Units are in SI, so the units in the Twist message are, as you say, m/s and rad/s.

You can have a look at REP 103:Standard Units of Measure and Coordinate Conventions

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Ok, thanks

domikilo gravatar image domikilo  ( 2014-07-08 06:14:29 -0500 )edit

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Asked: 2014-07-07 23:03:01 -0500

Seen: 2,119 times

Last updated: Jul 08 '14