RQT Robot Steering

This package contains the rqt_robot_steering node, an RQT plugin which publishes a Twist (or TwistStamped) containing X linear and Z angular velocities. This is intended for 2D navigation scenarios.

Settings like the topic name and window size are saved to and restored from ~/.config/ros.org/rqt_gui.ini.

Example

ros2 run rqt_robot_steering rqt_robot_steering --ros-args -p default_topic:=my_topic -p default_stamped:=true -p default_vx_max:=2.2

Published Topics

By default, publisheds to /cmd_vel. The topic name can be changed in the GUI, and will be saved/restored if the GUI is closed cleanly (not Ctrl+C). You can override this topic name using ROS parameters.

Parameters

• default_topic (string) - The topic name to publish on
• default_stamped (bool) - Whether to publish Twist or TwistStamped
• default_vx_min (double) - The minimum X velocity in m/s, used by the vertical slider.
• default_vx_max (double) - The maximum X velocity in m/s, used by the vertical slider.
• default_vw_min (double) - The minimum Z velocity in rad/s, used by the horizontal slider.
• default_vw_max (double) - The maximum Z velocity in rad/s, used by the horizontal slider.