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screenshot_rqt_robot_steering.png This tool starts publishing geometry_msgs/Twist message as soon as it's launched.

Usage Example (with care-o-bot)

As noted, rqt_robot_steering publishes geometry_msgs/Twist as a name of /cmd_vel by default. This name may vary per robot/application; e.g. Care-o-bot also publishes geometry_msgs/Twist but as base_controller/command (see cob_teleop#Published_Topics. So, type that name into the topic field at the top of rqt_robot_steering GUI and it gets applied immediately.

To verify, use also rqt_topic (or run from commandline rostopic echo) to see if the topics base_controller/command are actually published.

2024-07-20 14:45