README

twist_stamper

ROS2 package for converting between Twist and TwistStamped messages.

The package contains two nodes, twist_stamper and twist_unstamper which allow for easy conversion each way.

Usage

twist_stamper

The twist_stamper node converts Twist messages to TwistStamped. The topics and parameters are:

  • /cmd_vel_in - A Twist topic to listen on

  • /cmd_vel_out - A TwistStamped topic to publish

  • frame_id - Parameter value to set for the output frame ID (default '')

For example, if you had a node such as teleop_twist_joy publishing a Twist message on the topic /cmd_vel and something expecting a TwistStamped message in the my_frame frame on /my_node/cmd_vel you would use the following command:

ros2 run twist_stamper twist_stamper --ros-args -r cmd_vel_in:=cmd_vel -r cmd_vel_out:=my_node/cmd_vel -p frame_id:=my_frame

If unsure, leave frame_id empty.

twist_unstamper

The twist_unstamper node converts TwistStamped messages to Twist. The topics and parameters are:

  • /cmd_vel_in - A TwistStamped topic to listen on

  • /cmd_vel_out - A Twist topic to publish

For example, if you had a node publishing a TwistStamped message on the topic /cmd_vel_stamped and something expecting a Twist message on /my_node/cmd_vel you would use the following command:

ros2 run twist_stamper twist_unstamper --ros-args -r cmd_vel_in:=cmd_vel_stamped -r cmd_vel_out:=my_node/cmd_vel