dagu_car package¶
The dagu_car package contains three core nodes that facilitate a Duckiebot’s movement. KinematicsNode implements the forward and reverse kinematics models of a Duckiebot, that is it maps movement commands in terms of translational and rotational velocities (car_cmd messages) to the corresponding wheel rotation speeds (wheel_cmd messages). CarCmdSwitchNode is used to select one among various sources of movement commands (car_cmd messages). This is necessary when, for example, switching between joystick control and lane following, or between the lane following and the intersection navigation controllers. Finally, VelocityToPoseNode integrates the executed wheel commands and provides the current pose of the bot relative to its position and orientation when the node was started.