twist_stamper package from twist_stamper repo

twist_stamper

Package Summary

Tags No category tags.
Version 0.0.2
License Apache License 2.0
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/joshnewans/twist_stamper.git
VCS Type git
VCS Version main
Last Updated 2021-01-29
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS2 package for converting between Twist and TwistStamped messages

Additional Links

Maintainers

  • Josh Newans

Authors

  • Josh Newans

twist_stamper

ROS2 package for converting between Twist and TwistStamped messages.

The package contains two nodes, twist_stamper and twist_unstamper which allow for easy conversion each way.

Usage

twist_stamper

The twist_stamper node converts Twist messages to TwistStamped. The topics and parameters are:

  • /cmd_vel_in - A Twist topic to listen on
  • /cmd_vel_out - A TwistStamped topic to publish
  • frame_id - Parameter value to set for the output frame ID (default '')

For example, if you had a node such as teleop_twist_joy publishing a Twist message on the topic /cmd_vel and something expecting a TwistStamped message in the my_frame frame on /my_node/cmd_vel you would use the following command:

ros2 run twist_stamper twist_stamper --ros-args -r cmd_vel_in:=cmd_vel -r cmd_vel_out:=my_node/cmd_vel -p frame_id:=my_frame

If unsure, leave frame_id empty.

twist_unstamper

The twist_unstamper node converts TwistStamped messages to Twist. The topics and parameters are:

  • /cmd_vel_in - A TwistStamped topic to listen on
  • /cmd_vel_out - A Twist topic to publish

For example, if you had a node publishing a TwistStamped message on the topic /cmd_vel_stamped and something expecting a Twist message on /my_node/cmd_vel you would use the following command:

ros2 run twist_stamper twist_unstamper --ros-args -r cmd_vel_in:=cmd_vel_stamped -r cmd_vel_out:=my_node/cmd_vel

CHANGELOG

Changelog for package twist_stamper

Forthcoming

0.0.2 (2021-01-27)

  • Add unstamper
  • Removed cache files from git
  • Switched license to Apache 2.0 to match ROS2 standard
  • Fixed unit test issues.
  • Fixed license
  • Added content
  • Initial commit
  • Contributors: Josh Newans

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged twist_stamper at answers.ros.org

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