go_straight_and_turn

A ROS package that you can let your robot move straight or rotate for a specified distance or radian.

Launch files

• go_straight.launch
  Let the robot move staight for a specified distance with a specified linear velocity.
• go_turn.launch
  Let the robot rotate for a specified radian with a specified angular velocity.

Arguments

1. odom_topic
   The topic published from odom sensor (nav_msgs/Odometry).
2. cmd_vel_topic
   The topic published to the robot mobile base (geometry_msgs/Twist).
3. distance
   Linear or angular distance that robot will move for (m or rad).
4. velocity
   Linear or angular velocity that robot will move with (m/s or rad/s).
5. ctrl_freq
   The frequence of /cmd_vel topic is published(Hz).
6. tolerance
   The tolerance distance when achieving the goal.
   All default arguments are appropriate with Turtlebot3.

Examples

go_straight example: roslaunch go_straight_and_turn go_straight.launch odom_topic:=/odom cmd_vel_topic:=/cmd_vel distance:=0.5 velocity:=0.15 ctrl_freq:=8.0 tolerance:=0.005
go_turn example: roslaunch go_straight_and_turn go_turn.launch odom_topic:=/odom cmd_vel_topic:=/cmd_vel distance:=-1.57 velocity:=0.3 ctrl_freq:=8.0 tolerance:=0.05