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.

Changelog for package rqt_robot_steering

4.0.2 (2025-09-04)

• [rolling] respect param overrides (#28)
• Added CI (#27)
• Contributors: Alejandro Hernández Cordero, Peter Mitrano (AR)

4.0.0 (2025-07-24)

• Added linters (#26)
• Use console_script entrypoint (#12)
• Contributors: Alejandro Hernández Cordero, Melvin Wang

1.0.2 (2025-07-07)

• Fixed bugs after adding TwistStamped publishing (simplified) (#23)
• Contributors: Patrik Knaperek

1.0.1 (2025-03-21)

• Publish TwistStamped message optionally (#18)
• remove obsolete CMakeLists.txt
• Contributors: Christoph Fröhlich, Dirk Thomas

1.0.0 (2019-11-15)

• port package to ROS 2 (#7)
• minor cleanup (#6)
• add Python 3 conditional dependencies (#5)
• style: format code to conform to the PEP8 style (#3)

0.5.9 (2018-02-21)

• always send zero twist when stop button is pressed (#2)

0.5.8 (2017-10-12)

• handle an empty topic string (#1)

0.5.7 (2017-04-25)

0.5.6 (2017-01-24)

0.5.5 (2016-11-02)

0.5.4 (2016-09-19)

0.5.3 (2016-05-16)

0.5.2 (2016-04-29)

0.5.1 (2016-04-28)

0.5.0 (2016-04-27)

• Support Qt 5 (in Kinetic and higher) as well as Qt 4 (in Jade and earlier) (#101)

0.4.3 (2016-03-08)

0.4.2 (2015-07-24)

0.4.1 (2015-04-30)

0.4.0 (2014-11-05)

• update script to use full plugin name

0.3.7 (2014-08-18)

0.3.6 (2014-07-11)

• fix compatibility with Groovy, use queue_size for Python publishers only when available (#67)

0.3.5 (2014-06-02)

• use queue_size for Python publishers

0.3.4 (2014-05-07)

0.3.3 (2014-01-28)

0.3.2 (2014-01-08)

File truncated at 100 lines see the full file