Overview

This package provides basic functionality for controlling two differential wheels.

Devices Supported

This device supports all the drivers implemented in the maggie_motor_drivers package.

ROS Nodes

base_motor_node

ROS node for controlling the rfid.

Subscribed Topics

cmd_vel (geometry_msgs/Twist)
  • Subscribe to control the linear and angular velocity.

Published Topics

odom (nav_msgs/Odometry)
  • Publish the odometry of the wheels.

Launch File Examples

In a terminal window, start a base node process running:

 $ roslaunch maggie_base base.launch robot:=maggie

Examples

An example to read the content of a rfid card could be:

  1. Launch the node.
  2. Show the value of the odometry topic:

 $ rostopic echo /maggie/odom

Wiki: maggie_base (last edited 2015-06-12 09:56:37 by raul.perula)