Internals about Robot Movement
As explained on "http://learn.turtlebot.com/" in the video about the teleoperation functionality ie. after running the command "roslaunch turtlebot_teleop keyboard_teleop.launch", some questions arise that are as follows:
- What does it actually do after taking the input from keyboard?
- Is turtlebot_teleop an ROS node that publishes to some "ROS Topic" and we have a corresponding "NODE" implemented as a subscriber listening to that Topic? If so, are the components "ROS Topic" and "NODE" already implemented in ROS environment or Turtlebot Package? If so, to which topic(name) is the teleop node publishing and which node is listening to that topic?
- Or does it directly control the robot movements? If so, what exactly is the information provided to robot for movements? Are there any direct APIs for this?
- Can you provide some example source code to control the turtlebot movements?