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controling right and left wheels using ROS

asked 2018-01-10 12:54:51 -0600

JossiChrist gravatar image

updated 2018-01-12 16:37:10 -0600

jayess gravatar image

Dear guys,

Can anyone help me, i just follow a tutorial to make "Differential Drive Robot" from this link:

https://www.generationrobots.com/blog...

in the tutorial, Mobile robot models can be moved using cmd_vel (by controlling linear,x and angular.z). How can i control right and left wheels based on the trajectory? Im newbie :(

Thank you in advance

this is my code:

ros::Publisher pLeft = nh.advertise<std_msgs::Float64>("/my_robot/leftWheel_effort_controller/command",1);

ros::Publisher pRight = nh.advertise<std_msgs::Float64>("/my_robot/rightWheel_effort_controller/command",1);


std_msgs::Float64 stdMessage;

pLeft.publish(stdMessage);

pRight.publish(stdMessage);

But, it do nothing :(

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Comments

Welcome! What have you tried so far (an example of your code please)? Showing that you've put forth some effort is likely to increase your chances of getting help with this.

jayess gravatar imagejayess ( 2018-01-10 13:32:06 -0600 )edit

i have showed the code

JossiChrist gravatar imageJossiChrist ( 2018-01-12 08:27:58 -0600 )edit

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answered 2018-01-12 11:10:41 -0600

I'm not familiar with this exact robot, but I can see some problems.

you're creating two message objects, but you're setting their values. Each message should contain the velocity (effort) that you want each wheel to move out. The code you have shown is sending values of zero, which may be why the robot isn't moving.

Is there a reason why you're not using the cmd_vel topic? It's usually much easier to use this to drive a robot like this.

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Like @PeteBlackerThe3rd says, when you instantiate the message all of the numerical fields will be 0. The exception to this is when default values are provided in the message definition, but I'm not aware of any std_msgs that provide non-zero default values.

jayess gravatar imagejayess ( 2018-01-12 11:35:03 -0600 )edit

i have already filled the std::Message with some data. but it didnt move.

when i did rostpclist:

/my_robot/leftWheel_effort_controller/command /my_robot/rightWheel_effort_controller/command

this command also dont work: rostopic pub -1 /my_robot/rightWheel_effort_controller/command ...

JossiChrist gravatar imageJossiChrist ( 2018-01-14 01:12:51 -0600 )edit

Did you change the name of the robot from that used in the tutorial? You're using my_robot but the example uses mybot? So the command should be:

rostopic pub -1 /mybot/leftWheel_effort_controller/command std_msgs/Float64 "data: 1.5"
PeteBlackerThe3rd gravatar imagePeteBlackerThe3rd ( 2018-01-14 02:36:41 -0600 )edit

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Asked: 2018-01-10 12:54:51 -0600

Seen: 380 times

Last updated: Jan 12 '18