pi-puck在ROS下的使用

1.前进

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[4.0,0.0,0.0]' '[0.0,0.0,0.0]'

 2.后退

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[-4.0,0.0,0.0]' '[0.0,0.0,0.0]'

 3.顺时针旋转

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[1.0,0.0,0.0]' '[0.0,0.0,-0.5]'

4.逆时针旋转

 rostopic pub -1 /mobile_base/cmd_vel geometry_msgs/Twist -- '[1.0,0.0,0.0]' '[0.0,0.0,0.5]'