mobile_base_controller

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mobile_base_controller Quick Facts

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Debian package

ros2_controllers-None

License

Apache-2.0

Source code

https://github.com/ros-controls/ros2_controllers

Converts a velocity message in the form of geometry_msgs/msg/Twist into a control command for each of the robot’s wheels.

This node uses the ros2_control framework for implementing a velocity control of the robot’s wheels and provides the wheel’s odometry based on the encoder’s feedback. In the case of a differential-drive robot, it uses the diff_drive_controller from the ros2_controllers package. In the case of an omnidirectional-drive robot, it uses a Proprietary omni_drive_controller.

Node management

How to check the status of the node?

# this  a copy-pastable snippet to check the status

# this  a copy-pastable snippet using rosnode/rostopic to check the node is working

How to access the node’s logs?

# this  a copy-pastable snippet

How to start/stop/restart the node

# this  a copy-pastable snippet

Using in your code/application

Access via the robot’s GUI

[insert screenshots here]

Access via ROS standard tools

# this  a copy-pastable snippet

[insert screenshots here]

Using in Python

# this  a copy-pastable snippet

Using in C++

# this  a copy-pastable snippet

Reference

Subscribed topics

Published topics

Actions server

Actions client

Services