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Add speed&turn parameters #34

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Add speed&turn parameters #34

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d77873a
Add speed&turn parameters
ArendJan Oct 4, 2024
8459c34
Update readme speed params
ArendJan Oct 4, 2024
4b41643
rm comment
ArendJan Oct 4, 2024
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4 changes: 4 additions & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -46,3 +46,7 @@ CTRL-C to quit
- If false (the default), publish a `geometry_msgs/msg/Twist` message. If true, publish a `geometry_msgs/msg/TwistStamped` message.
- `frame_id (string, default: '')`
- When `stamped` is true, the frame_id to use when publishing the `geometry_msgs/msg/TwistStamped` message.
- `speed (dobule, default: 0.5)`
- The speed the node starts with by default.
- `turn (dobule, default: 1.0)`
- The rurn rate (rad/s) the node starts with by default.
5 changes: 3 additions & 2 deletions teleop_twist_keyboard.py
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Expand Up @@ -140,6 +140,9 @@ def main():
# parameters
stamped = node.declare_parameter('stamped', False).value
frame_id = node.declare_parameter('frame_id', '').value
speed = node.declare_parameter('speed', 0.5).value
turn = node.declare_parameter('turn', 1.0).value

if not stamped and frame_id:
raise Exception("'frame_id' can only be set when 'stamped' is True")

Expand All @@ -153,8 +156,6 @@ def main():
spinner = threading.Thread(target=rclpy.spin, args=(node,))
spinner.start()

speed = 0.5
turn = 1.0
x = 0.0
y = 0.0
z = 0.0
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