[ros-users] how to manually set the speed of the left and right motors of diff drive base
bencohen2 at gmail.com
Wed Feb 2 06:11:15 UTC 2011
I just went through the code and I can't seem to find where the ActArrayData
is stored, containing the speed of the actuators. How does the
the motor commands? It seems like it only contains the commanded pose
the entire robot.
On Tue, Feb 1, 2011 at 11:47 PM, John Hsu <johnhsu at willowgarage.com> wrote:
> Hi Ben,
> are you talking about this plugin<https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk/gazebo_plugins/src/gazebo_ros_diffdrive.cpp>?
> 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:
>> 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.
>> -- ben
>> ros-users mailing list
>> ros-users at code.ros.org
> ros-users mailing list
> ros-users at code.ros.org
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