How can I scale cmd_vel
I have a robot that for some weird reason only takes scaled twisted message to control its motion (I have limited-access and I can only do it from my end). Is there a way for move_base to scale the result cmd_vel (just like teleop_twist_joy based on the max-min velocity values)? If not, then I think I need to take the output from cmd_vel scale it accordingly and then publish to a topic that is remapped to the motor command topic or basically just make a filter node. If that is true how can I do it in c++?
I don't believe this is something
move_base
can do itself.re: scaling node: you wouldn't need to write something yourself. You can use topic_tools/transform for this. See #q326794 and #q261935 for previous Q&As about this (and #q349655 (avoid race condition)).
You would need to know the minimum and maximum values though (I guess you know those).