mobile_base_controller¶
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mobile_base_controller Quick Facts
- Category
- Debian package
ros2_controllers-None- License
Apache-2.0
- Source code
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