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COMMAND.md

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Commanding your Create

You can move the robot around by sending [geometry_msgs/Twist][twist] messages to the topic cmd_vel:

linear.x  (+)     Move forward (m/s)
          (-)     Move backward (m/s)
angular.z (+)     Rotate counter-clockwise (rad/s)
          (-)     Rotate clockwise (rad/s)

Velocity limits

-0.5 <= linear.x <= 0.5 and -4.25 <= angular.z <= 4.25

Teleoperation

ca_tools comes with a launch file for teleoperating Create with a joystick.

roslaunch ca_tools joy_teleop.launch [joy_config:=xbox360]

There exists configuration files for the Xbox 360 wired controller and the Logitech F710 controller. You can adapt these files for your preferred joystick configuration.