Move left and right wheel on turtlebot gazebo

Question

Hi guys,

Lately i learnt how to make a turtlebot in gazebo simulator, and moved it by using cmd_vel command. the question is:

1. how can i move each wheels because i should move it by using trajectory planning?
2. can we move the turtle bot to a specific point does cmd_vel only move the robot "straight" and "circle"?
3. if i should make a "sinusoidal" path using the trajectory planning, can i use cmd_vel topic?

Thank you in advance :)

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Originally posted by JossiChrist on ROS Answers with karma: 1 on 2018-01-16

Post score: 0

Answer 1

1- using the cmd_vel topic you don't have to worry about moving the wheels individually, that is done for you.

2 - in order to move any robot to a specific point you must first know where it is and which way it is facing. You'll then need to plan a path which the robot must follow to arrive at the final goal point. This is a more complex process than simply issuing a cmd_vel message.

3 - the cmd_vel topic controls the speed and direction a robot should move in at a specific point in time by sending multiple varying cmd_vel messages over time you can make a robot follow a sinusoidal path or any other path for that matter.

Hope this clears some things up for you.

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Originally posted by PeteBlackerThe3rd with karma: 9529 on 2018-01-16

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by JossiChrist on 2018-01-18:\

1. how if i want to move the robot's direction?, i mean i want to control each wheel... for example (rospub -l /my_robot/rightWheel data "1.0")
2. do u have any reference about how can i move the robot to the specific point?
3. does cmd vel only make "circle" and "straight" path?