How can I write AckermannDriveStamped message type to Ackermann Steering Controller ?
I'm using file cmdveltoackermanndrive.py in teblocalplannertutorials (carlikeplaning). But I can't write the message AckermannDriveStamped(ackermanncmd) to ackermannsteeringcontroller, so jointstates not change. I need to move my robot using the jointstates message type
Asked by mkorkmz on 2019-11-25 02:06:38 UTC
Comments
Hi @mkorkmz
The
joint state publisherand thejoint_statemsgs are just to debug your application and the things that the set of joints of your models are receiving.you question is more complex than you are stating here. What are you trying to control? If it a robot model loaded in Gazebo for example, you will need to link your joints to the proper actuators with the
<transmission>tag. Once you do that and load the proper controllers you will be able to send commands to the controller through the proper topics.Then you can publish with a node the values you want to use in order to control the platform.
Asked by Weasfas on 2019-11-25 12:24:55 UTC