This adds a new topic to the PTU called /ptu/cmd_vel. Any joinstate message sent to this topic will cause the PTU to switch to velocity control mode and drive with the velocities specified in the message.
The operation of the existing position control mode topic /ptu/cmd is unchanged. Any message sent to it must specify a position & velocity as before. If the PTU is velocity control mode, a message on this topic returns it to position control mode.
Sending messages on both topics at the same time is not a good idea. It would result in the PTU flipping between position and velocity control.
This adds a new topic to the PTU called
/ptu/cmd_vel. Any joinstate message sent to this topic will cause the PTU to switch to velocity control mode and drive with the velocities specified in the message.The operation of the existing position control mode topic
/ptu/cmdis unchanged. Any message sent to it must specify a position & velocity as before. If the PTU is velocity control mode, a message on this topic returns it to position control mode.Sending messages on both topics at the same time is not a good idea. It would result in the PTU flipping between position and velocity control.