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rotate the robot using cmd_vel

asked 2012-03-21 22:04:08 -0600

berni_ka gravatar image

hi, I tried to rotate the pioneer robot using cmd_vel / geometry/Twist with angular.z value. the robot turns but not nice, sometimes slow, then fast :( I searched the internet to solve that task, but it hasn't helped. can anyone help me to rotate the robot lets say 30degree. a c++ code snippet would be awesome, but I'm thankful for any help...

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answered 2012-03-21 23:10:15 -0600

Lorenz gravatar image

Normally publishing on cmd_vel with an angular.z value should be fine. If it it doesn't behave, I would actually blame the node that provides cmd_vel. Did you try with higher rotational values? Does it get more stable then? Maybe there is a minimal velocity on your motors and the driver runs a controller to reach lower rotational values as good as possible.

If you want to move the robot to a specific coordinate in odometry, e.g. 30 degrees rotated from the current position, check out this tutorial.

For path planning and collision avoidance, check out move_base.

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Asked: 2012-03-21 22:04:08 -0600

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Last updated: Mar 21 '12