control
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 Inverse Kinematics.
Usage
Run:
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. |