Open shanpenghui opened 3 years ago
Hi @shanpenghui . Thank you for your questions.
rclcpp::Time is a function Initializes the time values for seconds and nanoseconds individually. But builtin_interfaces::msg::Time is of type msg. Please refer to the link below for more details.
Also, it is an image of /odom & /joint_states topic when publishing cmd_vel to turtlebot3 burger
/joint_states
/odom
Thank you for your reference.
ISSUE TEMPLATE ver. 0.4.0
Which TurtleBot3 platform do you use?
Which ROS is working with TurtleBot3?
Which SBC(Single Board Computer) is working on TurtleBot3?
Which OS you installed on SBC?
Which OS you installed on Remote PC?
Specify the software and firmware version(Can be found from Bringup messages)
Specify the commands or instructions to reproduce the issue.
Copy and Paste the error messages on terminal.
Please describe the issue in detail.
And the velocity output is zero. But the output is correct when I change the type from rclcpp::Time to builtin_interfaces::msg::Time.
There are two functions used that type: joint_state_callback and joint_state_and_imu_callback.
Please check it if I get something missed or wrong.
Thank you very much.