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My robot is design around a tank style control system which takes an angle of rotation and distance for commands, however the cmd_vel sends it data in a twist message, how do I covert the angular and linear velocities into a distance and an angle?
You can't. Twist describes translational and rotational velocities. To get a distance/angle from that, you'd need a time frame that this should be set. You could assume some (short) time frame, or use the controller frequency that sends out those messages. This might work somehow.
If you want to receive twist commands from the default navigation stack, you'll need to modify your command interface (that probably already has some level of control). Alternatively you could write a local planner for the navigation stack that sends out local pose deltas.
If you want to use something else, just use another message to represent the command that you need and send that.
Any suggestions what topic I should use given that I can't use cmd_vel?
my robot is a complete custom job. At the moment it is a mobile base with a propellor microcontroller and some bump sensor
Being a beginner I will need some help figuring out how to do that, please direct me to the relevant tutorial or post. Also note at this moment I do not have speed control on my robot.
I think I have an idea on how to use position to navigate but it will require the current position of the robot, which topic or service do I use to find that
Asked: 2013-09-21 08:50:51 -0500
Seen: 436 times
Last updated: Sep 21 '13
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