echo series Product manual
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3.6.1 ROS Topics and Messages
After successfully launching the ROS package, you can view ROS topics through
the rostopic list.
/tf and/odom are topics published by chassis nodes,/cmd_ Vel is a
topic subscribed to by chassis nodes.
The chassis node sends a message type of
nav_ msgs/Odometry to the topic
/odom. This message represents the chassis odometer information, including the
current posture information of the chassis and the linear velocity angular velocity
information.
Chassis node sends a message type
tf2_ msgs/TFMessage to topic/tf, containing
chassis tf transformation information.
Chassis subscribes messages from topics
/cmd_vel. Message type is geome-
try_msgs/Twist. After receiving this message, the chassis moves, where linear. x is the
linear velocity，
linear. y is the linear speed of left and right translation (only applica-
ble to Mecanum wheel models) and
angular. z is the rotational angular velocity.
Please review the parameter settings and legends of other ROS nodes in the
readme and node_map files of the ROS package.
Note: If using the feature pack separately, the communication node must be enabled first,
located at base/xpkg_ comm.
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