how do I implement a proportional drive in stageros? [closed]
my omnidirectional robot on stageros can follow a graph.. what's the easiest way to implement a proportional drive in this situation?
while (ros :: ok())
{
geometry_msgs::Twist msg;
if((grafo[0][1])&&t)
{
msg.linear.x = (nodos[v[t-1]].x-nodos[v[t]].x)/(grafo[0][1]);
msg.linear.y = (nodos[v[t-1]].y-nodos[v[t]].y)/(grafo[0][1]);
if(fabs(start.y-(nodos[v[t-1]].y))<1&&fabs(start.x-(nodos[v[t-1]].x))<1)
{
t--;
}
}
pub.publish(msg);
ros :: spinOnce();
rate.sleep();
}
}
Please reask your question with more details. There is not enough information here to reproduce or diagnose your problem. See http://wiki.ros.org/Support for guidelines on asking questions.