/mobile_base_controller/cmd_vel#

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/mobile_base_controller/cmd_vel Quick Facts

Category

ARI hardware

Message type

geometry_msgs/Twist

Direction

⬅️ you normally publish to this topic.

Set the desired linear and angular velocity of the robot (in meters per second).

Quick snippets#

Publish data on the topic#
$ rostopic pub /mobile_base_controller/cmd_vel geometry_msgs/Twist # press Tab twice to complete

How to use in your code#

Publish to the topic using Python#
 1import rospy
 2from geometry_msgs.msg import Twist
 3
 4if __name__ == "__main__":
 5
 6  rospy.init_node("publisher")
 7
 8  pub = rospy.Publisher("/mobile_base_controller/cmd_vel", Twist, queue_size=10)
 9
10  rate = rospy.Rate(10) # 10Hz
11
12
13  msg = Twist()
14
15  while not rospy.is_shutdown():
16
17     # check http://docs.ros.org/en/api/geometry_msgs/html/msg/Twist.html
18     # for the msg structure
19     # msg.data = ...
20     pub.publish(msg)
21
22     rate.sleep()
Publish to the topic using C++#
 1#include <ros/ros.h>
 2#include <geometry_msgs/Twist.h>
 3
 4int main(int argc, char **argv)
 5{
 6  ros::init(argc, argv, "publisher");
 7  ros::NodeHandle n;
 8
 9  ros::Publisher pub = n.advertise<geometry_msgs::Twist>("/mobile_base_controller/cmd_vel", 10);
10
11  ros::Rate loop_rate(10); // 10Hz
12
13  while (ros::ok())
14  {
15     geometry_msgs::Twist msg;
16     // check http://docs.ros.org/en/api/geometry_msgs/html/msg/Twist.html
17     // for the msg structure
18     // msg.data = ...
19     pub.publish(msg);
20
21     ros::spinOnce();
22     loop_rate.sleep();
23  }
24  return 0;
25}