<<PackageHeader(rqt_robot_steering)>>
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== Usage ==
{{attachment:screenshot_rqt_robot_steering.png||width=100%}}
This tool starts publishing [[http://docs.ros.org/api/geometry_msgs/html/msg/Twist.html|geometry_msgs/Twist]] message as soon as it's launched.

=== Usage Example (with care-o-bot) ===

As noted, `rqt_robot_steering` publishes `geometry_msgs/Twist` as a name of `/cmd_vel` by default. This name may vary per robot/application; e.g. [[Robots/Care-O-bot|Care-o-bot]] also publishes `geometry_msgs/Twist` but as `base_controller/command` (see [[cob_teleop#Published_Topics]]. So, type that name into the topic field at the top of `rqt_robot_steering` GUI and it gets applied immediately.

To verify, use also [[rqt_topic]] (or run from commandline `rostopic echo`) to see if the topics `base_controller/command` are actually published.

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