Comments (1)
The Tiago listens for velocity commands on the /mobile_base_controller/cmd_vel
topic. This means that to use it with wander.py
and red_light_green_light.py
, you will need to remap the topic to /cmd_vel
when you start the node. See the section Names, Namespaces and Remapping
in chapter 2 for how to remap topics. For example:
./wander.py cmd_vel:=/mobile_base_controller/cmd_vel
To use wander.py
, which also wants a /scan
topic, you will need to find the topic that Tiago is publishing its laser scans on and remap scan
to it when you launch wander.py
. I couldn't find the name of that topic on the wiki, unfortunately, but it should be easy to spot in the output of rostopic
. If not, load rviz
using on of the provided configuration files and look at which topic the laser scan visualisation is subscribed to.
from rosbook.
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