Revision history [back]

After some strugling now I can move PeopleBot around with ROSARIA on fuerte! :)

I've noticed, that there were problems with understanding type of message that cmdvel_cb (in RosAria.cpp) needed, so I rewrote this function. It was using boost, now it doesn't. And also to move PoepleBot around I removed the comments on locking and unlocking the robot, so it's possible now to move it around :)

And my cmdvel_cb looks now like this:

void RosAriaNode::cmdvel_cb( const geometry_msgs::Twist &msg)
{
  veltime = ros::Time::now();
  ROS_INFO( "new speed: [%0.2f,%0.2f](%0.3f)", msg.linear.x*1e3, msg.angular.z, veltime.toSec() );

  robot->lock();
  robot->setVel(msg.linear.x*1e3);
  robot->setRotVel(msg.angular.z*180/M_PI);
  robot->unlock();
}

Hope this helps anyone, that would like to make use of RosAria with PeopleBot :)