:tocdepth: 1

.. _uiabot_pkg control:

control
=======

.. _uiabot_pkg control_diagram:

.. figure:: ../../fig/uiabot_pkg_control.drawio.svg
    :width: 1000
    :align: center

    Figure: control node diagram.

Summary
-------
The control node subscribes to the twist message, then calculates required wheel velocities to achieve the linear and angular velocities by using the :ref:`motion_control inverse_kinematics`.

Usage
-----

Run:

.. code-block:: bash

    ros2 run uiabot control

Interfaces
----------

Publishers
^^^^^^^^^^
============================         ============================           =============================
Topic                                Message type                           Description
============================         ============================           =============================
axis0/vel_ref                        std_msgs/Float32                       Axis0 velocity reference, in rad/s.           
axis1/vel_ref                        std_msgs/Float32                       Axis1 velocity reference, in rad/s.
============================         ============================           =============================

Subscribers
^^^^^^^^^^^
============================         ============================           =============================
Topic                                Message type                           Description
============================         ============================           =============================
cmd_vel                              geometry_msgs/Twist                    Linear and angular velocity references.
============================         ============================           =============================