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Action Nodes

Basic Movement

  • LinearAngularStatic 

    Publishes a Twist message on the topic /cmd_vel with a linear and angular velocity defined in the node JSON

Params:
    lin_vel (float): Linear x velocity for Twist msg
    ang_vel (float): Angular z velocity for Twist msg

  • LinearAngularDynamic 

    Publishes a twist message on the topic /cmd_vel with a linear and angular velocity provided by variables in the blackboard

Params:
    linear_var_name (string): Name of the blackboard variable holding the linear x velocity to add to Twist msg
    angular_var_name (string): Name of the blackboard variable holding the angular z velocity to add to Twist msg

  • Stop 
    Publishes a Twist msg on /cmd_vel with all velocity values set to 0