Does ROS Navstack use the Twist part of the Odom message?
adbidwai opened this issue · comments
The nav_msgs/Odometry
message type contains the Twist
as well as the Pose
message types. Generally odometry only means the Pose
i.e. the position and the orientation of the robot. Does ROS NavStack (move_base
to be precise) use this Twist
in the nav_msgs/Odometry
message to control the velocities? Or does it just refer to the Pose
part of the Odom
message?
Does ROS Navstack also have the feature of high level velocity control? Does it actually make sure that the robot is moving with the velocity it published?
I believe it depends on which planner you are using, but some of the local planners use the odometry to calculate the current speed and DWA (for instance) will only command velocities that are in a dynamic window around that velocity.