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[diff_drive] Use TwistStamped (backport #424) #425

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merged 1 commit into from
Jan 2, 2024
Merged

[diff_drive] Use TwistStamped (backport #424) #425

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1 change: 0 additions & 1 deletion example_2/bringup/config/diffbot_controllers.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,6 @@ diffbot_base_controller:

cmd_vel_timeout: 0.5
#publish_limited_velocity: true
use_stamped_vel: false
#velocity_rolling_window_size: 10

# Velocity and acceleration limits
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18 changes: 10 additions & 8 deletions example_2/doc/userdoc.rst
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Expand Up @@ -88,14 +88,16 @@ Tutorial steps

.. code-block:: shell

ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel_unstamped geometry_msgs/msg/Twist "linear:
x: 0.7
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"
ros2 topic pub --rate 30 /diffbot_base_controller/cmd_vel geometry_msgs/msg/TwistStamped "
twist:
linear:
x: 0.7
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0"

You should now see an orange box circling in *RViz*.
Also, you should see changing states in the terminal where launch file is started.
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