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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!

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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

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

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Last updated: May 31 '15