Make sure geometry_msgs::Twist or cmd_vel units

Question

Hi all, I have confusion about the unit of geometry_msgs::Twist, are they m/s and rad/s? Because I saw the sample code turltebot teleop as well as kobuki teleop, they setup these parameters equal 1.0 for each press button. However I checked the specification of the turtlebot kobuki in this link , the maximum of linear velocity is just 70 cm/s, if my above opinion is right, the setup parameters in sample code is 100cm/s, it is overload the motor. So what is the true unit of geometry_msgs::Twist or cmd_vel?

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Originally posted by domikilo on ROS Answers with karma: 89 on 2014-07-07

Post score: 0

Answer 1

Hi,

Units are in SI, so the units in the Twist message are, as you say, m/s and rad/s.

You can have a look at REP 103:Standard Units of Measure and Coordinate Conventions

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Originally posted by martimorta with karma: 843 on 2014-07-08

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by domikilo on 2014-07-08:
Ok, thanks