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skohlbr / simple_2wd_robot

ROS packages related to control of a simple 2WD Arduino robot
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What is the source for speed and angRate? #3

Closed jones5322 closed 6 years ago

jones5322 commented 7 years ago

I'm a newbie trying to teach myself ROS for a skid steer project and "simple_2wd_robot" looks like a great platform for me to start my education.....My question is where is the data coming from for speed and angRate?

void twistCallback(const geometry_msgs::TwistConstPtr twist) { float speed = twist->linear.x; float angRate = twist->angular.z;

updateCommand(speed, angRate);

}

skohlbr commented 7 years ago

The speed and angular rate are set from the Twist message that comes in as the argument for the callback you quoted.