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geometry_msgs/Twist
messages on the cmd_vel
topic, you should modify the teleop node to publish those messages. In particular, this means you should:
#include <geometry_msgs/Twist.h>
geometry_msgs::Twist
instead of turtlesim::Velocity
turtle1/command_velocity
to cmd_vel
geometry_msgs::Twist vel
and set vel.linear.x
to your linear velocity, and vel.angular.z
to your angular velocity.sensor_msgs
and geometry_msgs
packages, you should depend on them in your package.xml and include them as components when you find_package
catkin in your CMakeLists.txt.Yes, you can start this node from a launch file. The <node>
tag for it would be:
<node pkg="inga_teleop" type="inga_joy" name="inga_joy"/>