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thd-research / mir_robot

ROS support for the MiR Robots. This is a community project to use the MiR Robots with ROS. It is not affiliated with Mobile Industrial Robots.
BSD 3-Clause "New" or "Revised" License
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Feature #3

Open bahramii opened 1 year ago

bahramii commented 1 year ago

the files added include: instruction on README.md, controller, plotting and a roslaunch file.

dimadobriy commented 1 year ago

how to define cmd_vel_user_defined?

bahramii commented 1 year ago

how to define cmd_vel_user_defined?

in lines 19 and 46 of "mir_empty_world.launch" file (located in "/mir_gazebo/launch" folder) find

    <remap from="mobile_base_controller/cmd_vel" to="cmd_vel" />

and modify it to:

    <remap from="mobile_base_controller/cmd_vel" to="cmd_vel_user_defined" />

This "cmd_vel_user_defined" (that gazebo subscribes to it) is a new defined topic for publishing velocity commands of the point2point controller.