How to use pose for `move_base` to produce `cmd_vel`?
From the Wiki page of `move_base`, it seems that `move_base` obtains the pose estimation of a robot by a `tf` from `map` to `odom`, which is often published by `amcl`. However, in my application, I use...
View ArticleIntegrating Autonomous Navigation with SLAM
I'm a beginner in ROS and I'm trying to develop a robot that can autonomously navigate with the help of 3D Lidar data and IMU data. Using individual motor speeds as feedback for the navigation isn't an...
View ArticlePublisher/Subscriber Error with /cmd_vel
Hi, I'm using ROS Kinetic on a virtualbox running Ubuntu 16.04. When I run the bringup packages there are no errors and the turtlebot3_robot.launch says that it has set up the subscriber for the...
View Articlereference example for cmd_vel command subscriber
Hi, I would like to move a gazebo model using a twist messages (geometry_msgs/Twist) that come from keyboard input. I managed to run teleop_twist_keboard node (rosrun teleop_twist_keyboard...
View ArticleAutonomous navigation, am I missing something ?
Hello everyone, I'm trying to build an autonomous mapping and navigation robot with rplidar, arduino ( controlling the motors and ROS) So far I I have got lidar, hector slam, hector exploration...
View Articlecmd_vel z value z is fixed
I'm trying to build an autonomous mapping and navigation robot with rplidar, arduino ( controlling the motors and ROS) So far I I have got lidar, hector slam, hector exploration planner, and run the...
View ArticleHelp with controlling my motors with rplidar data
I'm trying to build an autonomous mapping and navigation robot with rplidar, arduino ( controlling the motors and ROS) So far I I have got lidar, hector slam, hector exploration planner, and run the...
View ArticleAckermann vehicle navigation
Hi, I am building an MIT Racecar with ackermann control and VESC. All topics this car published are list below. I can use ROS navigation stack (gmapping) to build a map. But to move autonomously, ROS...
View ArticleUse CMD_Vel to control motors speed for SLAM
Hello Here is how I get my cmd_vel after running hector slam and create the map on the rviz roslaunch hector_exploration node exploration_planner.launch rosrun hector_exploration_controller...
View ArticleReason given for shutdown: [new node registered with same name]
Hello Here is what I'm trying to : I'm using an rplidar, arduino connected to Raspberry with ROS kinetic, to do autonomous mapping and navigation. First, i run the rplidar with roslaunch rplidar_ros...
View ArticleMy car does not move
Hello Here is what I'm trying to : I'm using an rplidar, arduino connected to Raspberry with ROS kinetic, to do autonomous mapping and navigation. First, i run the rplidar with roslaunch rplidar_ros...
View ArticleController for robots
Hi, i found two ways to setup a controller to drive around with my mobile platform robot and am a bit confused. First I found the way to create a new xacro file and will it with a gazebo-tag and...
View Articleusing cmd_vel and navigation stack for our robot
Hi! We have our own robot which has two wheels in the back (each one with an independent motor) and one free wheel on the front. It can already accept commands to move a certain distance forwards or...
View ArticleActual wheels RPM velocities from ticks, target velocity and robot velocity
Hi all I'm working on a differential drive robot and I'm a little bit confused about three main things, they seems to work, but i wanna be sure that they re the correct ones. How to transform the ticks...
View ArticleHow to implement velocity transformation?
Hi all, i have the velocity topic /cmd_vel, and it's the type geometry_msgs::Twist, it is given in the object reference frame, and now i need to transform the velocity to another frame, such as my...
View Articleexact rotational speed of a wheel
hello there, i was wondering if there is a way of calculating or extracting the exact rotational speed of each wheel of a jackal from ROS or Gazebo. is there a topic containing this information? i need...
View Articlepublishing to /cmd_vel gives error
hey everyone, i am trying to let my jackal drive with this custom node : #! /usr/bin/env python import rospy from geometry_msgs.msg import Twist from sensor_msgs.msg import LaserScan def...
View ArticleI am trying to build a ground robot using RPi 3b and stepper motor for wheels.
I want to control the robot motion by publishing into the cmd_vel topic and subsequentlly I need to develop an odometry using the wheels for state estimation. I need help regarding how to setup these...
View Articleturtlebot continues driving after Ctrl + C
Hey Everybody, I have a Turtlebot3 Waffle Pi, everything is setup as told in the [official Tutorial](http://emanual.robotis.com/docs/en/platform/turtlebot3/getting_started/#getting-started). My Remote...
View Articlecmd_vel is published but robot is not moving after giving the goal position.
Everything is working fine, but the robot is not moving. Even when I use teleportation to control it is also not working. I got this after running move base command NODES / move_base...
View ArticleWhy no cmd_vel topic during ROS + Gazebo Turtlebot Simulation?
I have been having a very difficult time trying to understand why my system does not have the cmd_vel topic. I am trying to get a ROS system running with Gazebo so that I can work through tutorials...
View ArticleTurtlebot specify vleft and vright directly
I am using Turtlebot 2 with Kobuki base. After looking through the documentation I found that my specified v, omega (linear speed, angular speed) is turned into speed, radius by the kobuki ros...
View ArticleHow to convert Twist msg to PWM signals?
I am designing a actuator module for my RC Car. My joystick output a geometry_msgs/twist <> from which I extract the linear velocity and angular velocity. But I have to send 2 PWM signals (Power...
View ArticleChanging angular velocity of UAV in Gazebo using Twist messages not giving...
Hi, I'm currently trying to send angular velocity commands to a quadrotor in Gazebo, visualized in Rviz, through the "cmd_vel" topic using Twist messages. When I set angular.x to a nonzero value and...
View Articleteb_local_planner does not publish to cmd_vel?
On a robot that makes use of the default navigation stack, I have recently changed the base local planner to TebLocalPlanner to experiment with its performance and results. The paths it draws in rviz...
View ArticleMotor controller works only when I print using loginfo in cmd_vel callback
I am using a Roboclaw Motor Controller which I control using software I have taken from Github and modified. I am publishing Twist messages using teleop_twist_joy. This works fine when I have the line...
View Articlemove_base publishes a cmd_vel with linear.z =2,and the other parameter is all 0
When i try to do a path planning with move_base, the output twist is changing quickly. Sometimes the output is correct, only the values of linear.x and angular.z, but after issuing a correct speed...
View Articlecmd_vel(geometry_msgs::Twist) to ackermann_msgs
Hi all. I'd like to translate /cmd_vel(geometry_msgs::Twist) to ackermann_msgs::ackermannDrive. Linear speed is same in two msgs.(linear.x = speed) How can I covert angular velocity to steering...
View ArticleWriting a cmd_vel node with amcl_pose to move robot
So I am writing a cpp code to make the robot move. This code basically depends on the amcl_pose topic so I can calculate the cmd_vel angular and linear and also when to stop whenever I am at the goal....
View ArticleHow to move a drone by a given distance using ardrone_autonomy
I am working on a script for controlling a drone with `ardrone_autonomy` package, and I want to create a code for moving it by a given distance. Right now I implemented code base on these tutorials: -...
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