twist_stamper repository

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 UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
twist_stamper 0.0.2

README

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

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.

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)

Packages

Name Version
twist_stamper 0.0.2

README

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

CONTRIBUTING

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.