How cmd_vel is given while using amcl?
How cmd_vel is given while using AMCL. Is there any kinematic model?. How can we add a kinematic robot model for navigation?
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The
AMCLis used for the localization of the robot it has nothing to do withcmd_vel. For the navigation of your robot have a look at the navigation wiki.How cmd_vel is generated while navigation ?
With the package
move_base, there are plenty of tutorials in the link I gave you.Thank you. I cannot find which file is publishing cmd_vel topic.
It's
move_base.cpp.computeVelocityCommands (geometry_msgs::Twist & cmd_vel ) , what is this function actually do to calculate cmd_vel?