Ask Your Question
0

How to move Clearpath Husky A200 by a specific distance by publishing to a topic?

asked 2015-06-23 17:04:23 -0500

nemesis gravatar image

updated 2015-06-24 08:31:59 -0500

I looked at some tutorials online, and I came across -

rostopic pub /husky/cmd_vel geometry_msgs/Twist

That does the trick well, when you specify the parameters, if I wish to keep the robot moving I believe. But I want to move it forward based on distance. Like move forward by 0.5m with 0.1 velocity and stop. What's the most direct way to do so?

I am avoiding creating a separate node for this and keeping it simple. Please let me know if more details are required.

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
1

answered 2015-06-24 13:36:16 -0500

Ryan gravatar image

Writing a simple node in rospy is probably the fastest way to get this done. The Husky driver itself doesn't have any position inputs, but it does publish a standard odometry topic which you can subscribe to to check an estimate of distance traveled purely based on encoders.

edit flag offensive delete link more

Comments

Thank you. Using this reference I am trying to get this done at the moment and will update accordingly. But is there any specific reason why you didn't allow for position in

nemesis gravatar imagenemesis ( 2015-06-29 15:13:50 -0500 )edit

The skid-steer/off-road nature of the platform means that ded-reckoned turns can't be performed with any accuracy whatsoever. As well, since the majority of users wrap some kind of high-level autonomy around it, we didn't want to add a feature which would go unused at best and confuse users at worst

Ryan gravatar imageRyan ( 2015-06-30 17:24:14 -0500 )edit

Aah okay. Thank you! And I created a node instead which basically just moves the robot forward for couple of seconds using the geometry_msgs/Twist for now. It's working properly. Will check out the odometry topic too later. Thanks!

nemesis gravatar imagenemesis ( 2015-07-10 15:22:55 -0500 )edit

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

Stats

Asked: 2015-06-23 17:04:23 -0500

Seen: 313 times

Last updated: Jun 24 '15