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04. ROS: Subscribed Topics
SebastianE edited this page Oct 22, 2017
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Topics listed below will appear if the current default configuration is used:
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/uc_bridge/set_motor_level_msg (std_msgs/Int16)
- Messages published on this topic are used to control the simulated robots speed via raw motor level input values. The pses robot allows for a range of values between +1000 (forward) and -500 (backward).
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/uc_bridge/set_steering_level_msg (std_msgs/Int16)
- Messages published on this topic are used to control the simulated robots steering via raw steering level input values. The pses robot allows for a range of values between +1000 (right) and -1000 (left).
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cmd_vel (geometry_msgs/Twist)
- Messages published on this topic are used to control the simulated robots speed in m/s and steering angle in radiants.
Note: Using messages published on the cmd_vel topic is most common method through which a robot is controlled by local/global planning algorithms. Setting raw steering/motor level values is the default mode to control the pses robot.