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Question about turtle_teleop_key

Turtleteleop

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

TTTaurus
1 ●4 ●4 ●5

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

Hi. Can anyone help me and see this programing. http://code.metager.de/source/xref/ro... 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 ( 2015-06-03 17:38:14 -0500 )edit

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

nickw

flag of United Kingdom of Great Britain and Northern Ireland

1504 ●5 ●32 ●31 http://twitter.com/tinkernick

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

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