Adapting into twist geometry messages

asked 2019-10-22 02:16:47 -0600

Hey guys!

Sorry for the newbie question. I am working on an ROS robot and ive been using Int32 to transmit motor power and servo angles. However, the other day I came across the twist message type, and it looks like what i need, specially considering we will want to eventually use the move_base.

Im afraid i do not fully understand how twist works, and i would greatly greatly appreciate some help adapting my program.

I use and arduino with a polou motor controller and a node for each motor at this time. I will the leave my current program over here just for reference:

https://gitlab.com/HelloTodbot/tb_move

https://gitlab.com/HelloTodbot/arduino

Thank you in advance!

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Comments

1

We're all here to help, so don't take this as me writing "please go away and find it out yourself". Thing is, this exact topic has been discussed quite a large number of times here on ROS Answers.

So it would be really appreciated if you could do a quick search (Google: twist to wheel velocities site:answers.ros.org or similar keywords), read those Q&As and then come back here to tell us which ones you've read and if they're unclear, explain what is still unclear about them.

You'll perhaps also want to take a look at ros_control, in particular the diff_drive_controller (that is, if you're using a differential drive setup of course).

gvdhoorn gravatar imagegvdhoorn ( 2019-10-22 03:08:55 -0600 )edit