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Adapting into twist geometry messages

Hey guys!

Sorry for the newbie question. I am working on an ROS robot and ive been using Int32 to transmit motor power and servo angles. However, the other day I came across the twist message type, and it looks like what i need, specially considering we will want to eventually use the move_base.

Im afraid i do not fully understand how twist works, and i would greatly greatly appreciate some help adapting my program.

I use and arduino with a polou motor controller and a node for each motor at this time. I will the leave my current program over here just for reference:

Thank you in advance!