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stretch_tutorials/ros2/writing_nodes.md

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New Tutorial Series: Developing with Stretch, Python Tutorial, & ROS2 Tutorials
8 months ago
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  1. # Writing Nodes

  2. 

  3. TODO
  4. 

  5. You would publish [geometry_msgs/Twist](https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html) messages to the [/stretch/cmd_vel topic](#TODO). Since Twist messages are generalized to robots that can move with velocity in any direction, only the `Twist.linear.x` (translational velocity) and `Twist.angular.z` (rotational velocity) fields apply for differential drive mobile bases.