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ROS Basics in 5 days

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Unit 3:   Solutions

  Index

• Solution Exercise 3.1

Solution Exercise 3.1

- Exercise 3.1 -

For this exercise, we will assume that our package is called exercise_31, our launch file is called move_robot.launch and our Python file is called move_robot.py.

- Launch File: move_robot.launch -

<launch>
    <node pkg="exercise_31" type="move_robot.py" name="move_robot_node" output="screen" />
</launch>

- Python File: move_robot.py -

#! /usr/bin/env python

import rospy
from geometry_msgs.msg import Twist

rospy.init_node('move_robot_node')
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
rate = rospy.Rate(2)
move = Twist()
move.linear.x = 0.5 #Move the robot with a linear velocity in the x axis
move.angular.z = 0.5 #Move the with an angular velocity in the z axis

while not rospy.is_shutdown(): 
  pub.publish(move)
  rate.sleep()

After executing the code, you should get something like this: