[ros-users] how to manually set the speed of the left and right motors of diff drive base

John Hsu johnhsu at willowgarage.com
Wed Feb 2 04:47:50 UTC 2011

Hi Ben,
are you talking about this
 Starting with that plugin as reference, you should be able to modify it to
do what you described?

On Tue, Feb 1, 2011 at 8:31 PM, Benjamin Cohen <bencohen2 at gmail.com> wrote:

> Hey,
> I was wondering if there is a differential drive gazebo plugin for small
> platforms (specifically for the Erratic) that allows me to manually set the
> velocity of the left motor and right motor instead of using a
> geometry_msgs/Twist to control the center of the base.
> for example:  instead of publishing a Twist message on the /cmd_vel topic
> to control the base of the robot, I would instead publish a message on
> /cmd_motors with 2 floats, left_rpm & right_rpm to drive it around.
> thanks,
> -- ben
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> ros-users at code.ros.org
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