Ask Your Question

Question about turtle_teleop_key

asked 2015-05-31 02:46:29 -0500

TTTaurus gravatar image

updated 2015-05-31 02:47:32 -0500

Hi. Can anyone help me and see this programing. My question is What a_scale and l_scale stand for? And in Switch(c). Why value of angular and linear are all 1.0 rather than 2.0. Thank you very much!

edit retag flag offensive close merge delete


a_scale and l_scale are the magnitude of the velocity. When you increase the values the speed will increase as well. Also "a" stands for angular and "l" stands for linear scales.

MahsaP gravatar image MahsaP  ( 2015-06-03 17:38:14 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted

answered 2015-05-31 04:15:23 -0500

updated 2015-05-31 04:15:51 -0500

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_;
edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower


Asked: 2015-05-31 02:46:29 -0500

Seen: 3,672 times

Last updated: May 31 '15