How to publish velocity to Turtlebot | Move Turtlebot | Gazebo | ROS Tutorial for Beginners
19.2 هزار بار بازدید -
4 سال پیش
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In this Turtlebot Tutorial video
In this Turtlebot Tutorial video we focus on how to publish velocity to Turtlebot.
This is basically an example of how to move turtlebot around in Gazebo by providing linear / angular velocities.
At end of the video you will be able to more the turtlebot in circular motion. That is you can command to give and wheel velocity and also rotate the robot.
We are using /cmd_vel_mux/input/navi topic to publish but you can use /cmd_vel if that is topic.
To checkout what topic you have use - "rostopic list"
Let us know in the comments section below if you want the CPP code for the same.
Time Stamp -
0:00 Introduction
0:19 Clone Turtlebot SImulator
1:50 Rostopic List - /cmd_vel and /cmd_vel_mux/input/navi
3:08 Understanding Geomerty_msgs and Twist Message Type
4:15 Understanding the Publisher code
7:08 Rosrun the velocity publisher
7:32 Output of Turtlebot moving in a circular motion
Important Links -
👩🏻💻 Code Link - https://github.com/PranaliDesai/Robom...
🤖 Link to Turtlebot_simulator - https://github.com/turtlebot/turtlebo...
🤖 Geomerty_msgs - http://wiki.ros.org/geometry_msgs
👩🏻💻 How to write a ROS Publisher - How to write a ros publisher | ROS Pu... ( How to make executable and more information on ros publishers)
👩🏻💻 Link to the Playlist - ROS Tutorial for Beginners
👩🏻💻 How to write a ROS subscriber - How to write a ROS subscriber in 7 mi...
Please Like and Subscribe.
Keep Watching Keep commenting
Robomechtrix
Tags - #ros #turtlebot #move #rosPublisher #/cmd_vel #/cmd_vel_mux/input/navi
This is basically an example of how to move turtlebot around in Gazebo by providing linear / angular velocities.
At end of the video you will be able to more the turtlebot in circular motion. That is you can command to give and wheel velocity and also rotate the robot.
We are using /cmd_vel_mux/input/navi topic to publish but you can use /cmd_vel if that is topic.
To checkout what topic you have use - "rostopic list"
Let us know in the comments section below if you want the CPP code for the same.
Time Stamp -
0:00 Introduction
0:19 Clone Turtlebot SImulator
1:50 Rostopic List - /cmd_vel and /cmd_vel_mux/input/navi
3:08 Understanding Geomerty_msgs and Twist Message Type
4:15 Understanding the Publisher code
7:08 Rosrun the velocity publisher
7:32 Output of Turtlebot moving in a circular motion
Important Links -
👩🏻💻 Code Link - https://github.com/PranaliDesai/Robom...
🤖 Link to Turtlebot_simulator - https://github.com/turtlebot/turtlebo...
🤖 Geomerty_msgs - http://wiki.ros.org/geometry_msgs
👩🏻💻 How to write a ROS Publisher - How to write a ros publisher | ROS Pu... ( How to make executable and more information on ros publishers)
👩🏻💻 Link to the Playlist - ROS Tutorial for Beginners
👩🏻💻 How to write a ROS subscriber - How to write a ROS subscriber in 7 mi...
Please Like and Subscribe.
Keep Watching Keep commenting
Robomechtrix
Tags - #ros #turtlebot #move #rosPublisher #/cmd_vel #/cmd_vel_mux/input/navi
4 سال پیش
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