How to publish different velocity msgs to different wheels?

asked 2017-10-09 16:52:00 -0600

Luan Mendes gravatar image

updated 2017-10-09 16:53:58 -0600

Hi all,

I have been trying to learn some basis of ROS. My objective is to know if there is a way to send different velocity messages to a 2-wheel drive mobile robot. For example I want to send 3 m/s to the left wheel and -3 m/s to the right wheel for a while. The robot should be turning 360 degree when I do that. I have been using turtlebots to try to do this and I could not get it done. I have tried many things such as publishing on joint_states. I want to design a fault-tolerant controller for the motors and I need to send these messages instead of publishing on /cmd_vel twist messages.

Does anyone have any idea how to do that?

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Specifically, what have you tried so far? That way no one tries to give you a suggestion that you already tried out. Can you please update your question with your code if possible? I'm also not understanding why you can't use one Twist message instead one message per wheel.

jayess gravatar image jayess  ( 2017-10-10 00:22:22 -0600 )edit

Yep. I have tried to publish on the topics which are shown on rqt_graph when turtlebot is running. I have been trying to publish JointStates msgs on the terminal. As I said, I started to learn ROS couple days ago and I do not know how to code that. I need a close-loop controller which needs vel..

Luan Mendes gravatar image Luan Mendes  ( 2017-10-10 07:29:02 -0600 )edit