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 for package twist_stamper

0.0.3 (2022-09-16)

• fix python setuptools install error (#1) Co-authored-by: Sönke Niemann <<soenke.niemann@ipk.fraunhofer.de>>
• Contributors: niemsoen

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