[US-19] Convert Joystick speed.msg into geometry_msgs/Twist.msg
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JoshuaGabriel commented
I want to remove the custom message we created for the runt rover (speed.msg) to ros supported geometry_msgs/Twist.msg.
Speed.msg
int64 leftspeed
int64 rightspeed
int64 leftdirection
int64 rightdirection
while Twist.msg
Vector3 linear
Vector3 angular
Vector3 has x,y,z
- The joystick node transforms joystick data into speed.msg, so that needs to change to Twist.msg
- Arduino code for drivetrain takes in speed.msg, so we need to change that to Twist.msg
We are doing this to
- Avoid complexity with handling a custom message
- Twist is supported by navigation stack that we might look to implement later on
JoshuaGabriel commented
Can we double-check if we need to do any math on the Arduino? If the calculation from twist.msg to PWM is memory intensive on the arduino then I rather not do this