I just completed a Raspberry Pi car setup shown in the image below.

earlier image of the car build in progress

With my car now assembled, I can run a simple Python script put the necessary GPIO pins HIGH or LOW and moves the car around successfully.

Now, I have added ROS to the mix and I want to drive the car around using the Turtlebot teleop package.

Roscore is launched and when I execute rostopic list I get the following:


Obviously, I am missing the /cmd_vel topic.

How can I make ROS aware of the robots' mobile base in order to begin driving it around, please?

  • $\begingroup$ give me direction .... google rpi ros $\endgroup$
    – jsotola
    Mar 10, 2018 at 6:25

1 Answer 1


You first need to roslaunch the turtlebot_teleop package with

roslaunch turtlebot_teleop keyboard_teleop.launch

That fires up the high level teleoperation, which publishes a geometry Twist message on the cmd_vel rostopic. Looking at the launch file, it looks like it will be called cmd_vel_mux/input/teleop

An option for the low level code is to create your own custom ROS node that subscribes to that specific cmd_vel rostopic, takes the messages from the turtlebot_teleop and figures out how to properly control the motors.


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service, privacy policy and cookie policy

Not the answer you're looking for? Browse other questions tagged or ask your own question.