How can I write AckermannDriveStamped message type to Ackermann Steering Controller ?

asked 2019-11-25 01:06:38 -0600

I'm using file cmd_vel_to_ackermann_drive.py in teb_local_planner_tutorials (car_like_planing). But I can't write the message AckermannDriveStamped(ackermann_cmd) to ackermann_steering_controller, so joint_states not change. I need to move my robot using the joint_states message type

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Hi @mkorkmz

The joint state publisher and the joint_state msgs 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.

Weasfas gravatar imageWeasfas ( 2019-11-25 11:24:55 -0600 )edit