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Alan G. Sanchez 3 years ago
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## Example 1
![image](images/move.gif)
The goal of this example to give you an enhance understanding how to control the mobile base by sending `Twist` messages to a Stretch robot.
First, bringup [Stretch in the empty world simulation](getting_started). Open a new terminal and go into the *src* folder where the [move](src/move.py) node is located. To drive the robot forward, type the following in the terminal.
```
python move.py
```
This will drive the robot forward ...
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
class Move:
def __init__(self):
self.pub = rospy.Publisher('/stretch_diff_drive_controller/cmd_vel', Twist, queue_size=1)
def move_forward(self):
command = Twist()
command.linear.x = 0.1
command.linear.y = 0.0
command.linear.z = 0.0
command.angular.x = 0.0
command.angular.y = 0.0
command.angular.z = 0.0
self.pub.publish(command)
if __name__ == '__main__':
rospy.init_node('move')
base_motion = Move()
rate = rospy.Rate(10)
while not rospy.is_shutdown():
base_motion.move_forward()
rate.sleep()
```

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