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Hi, the "/cmd_vel_mux/input/teleop" topic controls linear velocity and angular velocity of the turtlebot kobuki, what i have been trying to find is the topic that controls the rotational speed of the left/right wheel of the turtlebot kobuki in order to implement an LQ regulator to control the speed loop of the turtlebot.
Without knowing more about your system (packages, real vs. simulated, topics, etc.) it's hard to give a precise answer. I'm guessing that the /cmd_vel_mux/input/teleop topic takes Twist messages which means that there isn't a separate topic for left and right motors (if that's what you're looking for). Here is the definition of a Twist message
$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
As you can see, there's linear and angular components to the message. The ones that are probably used are the linear.x (forward/backward) and the angular.z (rotate clockwise/counterclockwise). There is no component for individual wheel speeds (if that's what you're looking for). You can get around this by doing some math to determine the correct linear/angular component values and publish those values along the correct topic.
there is an internal regulator to assure that the Turtlebot goes the exact speed set by the *"cmd_vel_mux/input/teleop" topic.( they use PID regulator for that) for more accurate measurement i want to use LQ regulator, and for that a separate topic for left and right motors is necessary.
Asked: 2018-02-25 15:50:31 -0500
Seen: 452 times
Last updated: Feb 26 '18
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