What is meaning of Operator's topics ?

asked 2016-06-30 06:51:33 -0600

RosUser
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What does the blue and the green line means in Rviz while using tutorial2 for autonomous not manually (joystick) ?

According to http://wiki.ros.org/nav2d/Tutorials/R... The blue line is the input command. The input command /cmd has messeage content of (Velocity, Turn, and Mode), But /Operator/desired message is complete different !?

answered 2016-06-30 08:35:00 -0600

Sebastian Kasperski

1658 ●7 ●18 ●35

These are just visualizations of the input and have the type: nav_msgs/GridCells. They show the trajectory the robot would follow given this command. In fact, only the turn is visualized, not the velocity and mode.

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From /cmd topic, turn has only one parameter, but /Operator/desired shows x and y. Is it because operator node convert the value of turns into locations in x and y ?

RosUser ( 2016-06-30 10:29:23 -0600 )edit

Yes, the turn is the angle that the robot will turn around. So -1 is a left turn in place, 0 is a straight move and 1 a right turn in place.

Sebastian Kasperski ( 2016-07-01 09:28:29 -0600 )edit

Thanks a lot for all the help during my semester Sebastian :) My exam is over now and in future I will see if I can buy or make a robot, then can run with ROS then it will be fun to implement nav2d :D

RosUser ( 2016-07-12 03:03:42 -0600 )edit

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