... | ... | @@ -196,9 +196,9 @@ The window should look like this: |
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![rqt](uploads/93ef754cc99eecd6fa9eeb1b4dfc070a/rqt.png)
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If you check the ```/odom``` in the topic monitor, you can see it change. In the message publisher you can add new topics and set the value to publish, try to add ```/cmd_vel```and to publish the velocity. A more convenient alternative to controlling the velocity is to use the robot steering panel (do note that the robot does not like to move backward).
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If you check the ```/odom``` in the topic monitor, you can see it change. In the message publisher you can add new topics and set the value to publish. Try to add ```/cmd_vel``` and publish the velocity. A more convenient alternative to controlling the velocity is to use the robot's steering panel (note that the robot does not like to move backward).
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You can also use rqt to plot value, add a plot with ```Visualization > Plot```. You can then add ```/diffdrive_controller/cmd_vel_unstamped/linear/x``` and /diffdrive_controller/cmd_vel_unstamped/angular/z```
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You can also use rqt to plot topic values. Add a plot with ```Visualization > Plot```. You can then add ```/diffdrive_controller/cmd_vel_unstamped/linear/x``` and ```/diffdrive_controller/cmd_vel_unstamped/angular/z```
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You should see something like this:
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... | ... | |