Run Ice_rover - Kraft2k/icebox-rover GitHub Wiki

VescID

left motors: local

right motors: 16

Go forward

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.23, y_vel: 0.0, rot_vel: 0.0, duration: 1.1415}"

Go backward

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: -0.23, y_vel: 0.0, rot_vel: 0.0, duration: 1.1415}"

Left turn in place

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.0, y_vel: 0.0, rot_vel: 1.2, duration: 3.1415}"

Right turn in place

ros2 service call /SetSpeed zuuu_interfaces/srv/SetSpeed "{x_vel: 0.0, y_vel: 0.0, rot_vel: -1.2, duration: 3.1415}"